【正文】 particularly in the hightemperature, high pressure, low temperature, low pressure, dust, explosive, toxic and radioactive gases such as poor environment can replace the normal working people. Here I would like to think of designing a robot to be used in actual production. Why would a robot designed to provide a pneumatic power: pneumatic robot refers to the pressed air as power sourcedriven robot. With pressuredriven and other energydriven parison have the following advantages: 1. Air inexhaustible, used later discharged into the atmosphere, does not require recycling and disposal, do not pollute the environment. (Concept of environmental protection) 2. Air stick is small, the pipeline pressure loss is small (typically less than asphalt gas path pressure drop of onethousandth), to facilitate longdistance transport. 3. Compressed air of the working pressure is low (usually 4 to 8 kg / per square centimeter), and therefore moving the material ponents and manufacturing accuracy requirements can be lowered. 4. With the hydraulic transmission, pared to its faster action and reaction, which is one of the advantages pneumatic outstanding. 5. The air cleaner media, it will not degenerate, not easy to plug the pipel。s industrial production, especially the reform and opening up after the rapid increase in the degree of automation to achieve the workpiece handling, steering, transmission or operation of brazing, spray gun, wrenches and other tools for processing and assembly operations since, which has more and more attracted our attention. Robot is to imitate the manual part of the action, according to a given program, track and requirements for automatic capture, handling or operation of the automatic mechanical devices.In real life, you will find this a problem. In the machine shop, the processing of parts loading time is not annoying, and labor productivity is not high, the cost of production major, and sometimes manmade incidents will occur, resulting in processing were injured. Think about what could replace it with the processing time of a tour as long as there are a few people, and can operate 24 hours saturated human right? The answer is yes, but the robot can e to replace it. Production of mechanical hand can increase the automation level of production and labor productivity。s reliability, reduced maintenance rate, and improve work efficiency. Robot technology related to mechanics, mechanics, electrical hydraulic technology, automatic control technology, sensor technology and puter technology and other fields of science, is a crossdisciplinary integrated technology.First, an overview of industrial manipulatorRobot is a kind of positioning control can be automated and can be reprogrammed to change in multifunctional machine, which has multiple degrees of freedom can be used to carry an object in order to plete the work in different environments. Low wages in China, plastic products industry, although still a laborintensive, mechanical hand use has bee increasingly popular. Electronics and automotive industries that Europe and the United States multinational panies very early in their factories in China, the introduction of automated production. But now the changes are those found in industrialintensive South China, East China39。s intelligence and adaptability. The accuracy of robot operations and a variety of environments the ability to plete the work in the field of national economy and there are broad prospects for development. With the development of industrial automation, there has been CNC machining center, it is in reducing labor intensity, while greatly improved labor productivity. However, the upper and lower mon in CNC machining processes material, usually still use manual or traditional relaycontrolled semiautomatic device. The former timeconsuming and labor intensive, inefficient。AidedCADConstraintbasedModelPere基于PLC的氣動(dòng)機(jī)械手控制系統(tǒng)設(shè)計(jì)[J].機(jī)電產(chǎn)品開發(fā)與創(chuàng)新，2012(05)：133135[2] 郭洪武. 淺析機(jī)械手的應(yīng)用與發(fā)展趨勢(shì)[J].中國(guó)西部科技，2012(10)[3] 徐玲. 基于MCGS組態(tài)軟件氣動(dòng)機(jī)械手PLC控制系統(tǒng)設(shè)計(jì)[J].伺服控制 ，2012(01)：5153[4] [J].煤礦機(jī)械,2012(10):147148[5] 劉小春. 基于MCGS的PLC仿真實(shí)訓(xùn)系統(tǒng)的設(shè)計(jì)與實(shí)現(xiàn)[J].自動(dòng)化技術(shù)與應(yīng)用，2012(10)：4657[6] [J].液壓與氣動(dòng). 2010(10)，6163[7] 馮奕紅. MCGS 組態(tài)軟件在PLC 實(shí)驗(yàn)教學(xué)中的應(yīng)用[J].實(shí)驗(yàn)室科學(xué), 2008( 1): 149 150[8] [M].北京：北京人民郵電出版社,2004[9] [M].北京: 清華大學(xué)工業(yè)出版社, 2005.[10] 余達(dá)太，[M].北京:冶金工業(yè)出版杜，1999. [11] [M].北京中國(guó)電力出版社，2004.[12] 何強(qiáng)，[J].安徽水利水電職業(yè)技術(shù)學(xué)院學(xué)報(bào),2009,16(5)：1229 [13] 李曉波, PLC 教學(xué)實(shí)驗(yàn)平臺(tái)開發(fā)[J].漯河職業(yè)技術(shù)學(xué)院學(xué)報(bào) ,2009(3): 12 13[14] 鄒金慧．可編程控制器及其系統(tǒng)[M]. 重慶大學(xué)出版社，2011. 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[16] Luis此外，非常感謝家人對(duì)我的關(guān)心和大力的支持，在此深深的祝福他們身體健康，生活幸福。同時(shí)也感謝我的母?！不展こ檀髮W(xué)機(jī)電學(xué)院，每當(dāng)我沒有頭緒的時(shí)候?qū)W校的圖書館總會(huì)給我一定的幫助，而且在我畢業(yè)設(shè)計(jì)期間，正是我公司實(shí)習(xí)的時(shí)候，中間時(shí)間的調(diào)劑也幸虧有學(xué)校的合理安排。在這里首先要再次感謝我的導(dǎo)師周力老師。導(dǎo)師淵博的知識(shí)、嚴(yán)謹(jǐn)?shù)闹螌W(xué)態(tài)度、孜孜不倦的鉆研精神以及平易近人的作風(fēng)為我樹立了榜樣，激勵(lì)著我奮發(fā)向上，努力學(xué)習(xí)。另外，本文中的機(jī)械手搬運(yùn)工件控制系統(tǒng)的機(jī)械手模型比較簡(jiǎn)單，還需要不斷改進(jìn)和加強(qiáng)。機(jī)械手控制技術(shù)是一項(xiàng)綜合型的技術(shù)，機(jī)械手控制系統(tǒng)又是一個(gè)復(fù)雜的隨機(jī)系統(tǒng)，本次設(shè)計(jì)的機(jī)械手控制系統(tǒng)與真正的機(jī)械手控制系統(tǒng)之間還有很大的差距。最終的人機(jī)界面在充分適合生產(chǎn)實(shí)際的調(diào)試的前提下，體現(xiàn)更多的人性化的操作和流程的更改更加方便。在基于MCGS的情況下，所得到上位機(jī)的組態(tài)情況和運(yùn)行環(huán)境，很好的體現(xiàn)了機(jī)械手的動(dòng)作方式和動(dòng)作過程。在機(jī)械手運(yùn)行的過程中通過PLC作為控制器和MCGS作為上位機(jī)的基礎(chǔ)上，在I/O口的通信方式進(jìn)行連接下和傳感器的使用。利用組態(tài)軟件MCGS對(duì)機(jī)械手控制系統(tǒng)進(jìn)行監(jiān)控，可以以最少的人員配置來(lái)加強(qiáng)對(duì)機(jī)械手的管理，提供較為直觀、清晰、準(zhǔn)確的機(jī)械手運(yùn)行狀態(tài)，進(jìn)而為維修和故障診斷提供多方面的可能性，充分提高系統(tǒng)的工作效率。同時(shí)，使用PLC進(jìn)行控制可方便更改生產(chǎn)流程，增強(qiáng)控制功能。結(jié)論與展望在本次課題設(shè)計(jì)中，通過對(duì)機(jī)械手的各種不同類型的認(rèn)識(shí)和了解，基于控制理論和控制方式的分析和比較，選擇采用PLC進(jìn)行控制。在運(yùn)行中通過對(duì)按鈕的操作可檢測(cè)所編程序的正確與否。 組態(tài)運(yùn)行保存所有組態(tài)設(shè)置，然后關(guān)閉組態(tài)監(jiān)控程序。7) 存盤，進(jìn)入運(yùn)行環(huán)境調(diào)試。如圖420所示。如圖419所示。4) 進(jìn)入“可見度”頁(yè)，在表達(dá)式一欄填入：工件夾緊標(biāo)志；當(dāng)表達(dá)式非零時(shí)，選擇：對(duì)應(yīng)圖符不可見。工件移動(dòng)動(dòng)畫的實(shí)現(xiàn)：1) 在實(shí)時(shí)數(shù)據(jù)庫(kù)中填加一個(gè)變量：工件夾緊標(biāo)志，初值：0，類型：開關(guān)。參數(shù)設(shè)置的意思是：當(dāng)水平移動(dòng)量=0時(shí)，向右移動(dòng)距離為0；當(dāng)水平移動(dòng)量＝50時(shí)，向右移動(dòng)距離為280。5) 計(jì)算：水平移動(dòng)量的最大值=循環(huán)次數(shù)*變化率=50*1=50，即當(dāng)水平移動(dòng)量＝50時(shí)，水平移動(dòng)距離為280。移動(dòng)距離為280.2) 在數(shù)據(jù)庫(kù)中增加一個(gè)變量：水平移動(dòng)量，數(shù)值型，初值為0。10) 進(jìn)入運(yùn)行環(huán)境，單擊“啟動(dòng)”按鈕，觀察動(dòng)作。在垂直移動(dòng)連接欄填入各項(xiàng)參數(shù)。8) 在“位置動(dòng)畫連接”一欄中選中“垂直移動(dòng)”，單擊“垂直移動(dòng)”選項(xiàng)卡，進(jìn)入該頁(yè)。變化率=25*1=25。5) 計(jì)算垂直移動(dòng)一次腳本程序執(zhí)行次數(shù)：次數(shù)=下移時(shí)間（上升時(shí)間）/循環(huán)策略執(zhí)行間隔=5s/200ms=25次。3) 估計(jì)總垂直移動(dòng)距離：在上工件底邊與下工件底邊之間畫一條直線，根據(jù)狀態(tài)條大小指示可知直線長(zhǎng)度即總垂直移動(dòng)距離，垂直移動(dòng)距離為200。2) 單擊“查看”菜單，選擇“狀態(tài)條”，在屏幕下方出現(xiàn)狀態(tài)條。為體現(xiàn)機(jī)械手上升、下降、前伸、后縮、夾緊、放松等動(dòng)作，圖中機(jī)械手、上工件、橫滑桿等部分需要隨動(dòng)作進(jìn)