【正文】 The device covers a programmable control technology, position control technology, detection technology, Mechatronics is a typical representative of one of the machines. This paper presents a manipulator by three PLC output pulse, driving horizontal, the vertical axis transducer, control manipulator axis horizontal and vertical positioning precision, microswitches position signal transmission will host PLC。本課題擬開發(fā)的物料搬運(yùn)機(jī)械手可在空間抓放物體，動(dòng)作靈活多樣，可代替人工在高溫和危險(xiǎn)的作業(yè)區(qū)進(jìn)行作業(yè)，并可根據(jù)工件的變化及運(yùn)動(dòng)流程的要求隨時(shí)更改相關(guān)參數(shù)。該裝置涵蓋了可編程控制技術(shù)，位置控制技術(shù)、檢測技術(shù)等，是機(jī)電一體化的典型代表儀器之一。畢業(yè)設(shè)計(jì)（論文）題　　目:機(jī)械手的 PLC 控制　　　 ?！　I(yè):　 　　　　　 班　　級(jí): 學(xué)　　號(hào): 姓　　名: 指導(dǎo)老師: 成都電子機(jī)械高等?？茖W(xué)校二〇〇七年六月摘 要機(jī)械手是工業(yè)機(jī)器人系統(tǒng)中傳統(tǒng)的任務(wù)執(zhí)行機(jī)構(gòu)，是機(jī)器人的關(guān)鍵部件之一。機(jī)械手的機(jī)械結(jié)構(gòu)采用滾珠絲桿、滑桿、等機(jī)械器件組成；電氣方面有交流電機(jī)、變頻器、傳感器、等電子器件組成。本文介紹的機(jī)械手是由 PLC 輸出三路脈沖，分別驅(qū)動(dòng)橫軸、豎軸變頻器，控制機(jī)械手橫軸和豎軸的精確定位，微動(dòng)開關(guān)將位置信號(hào)傳給 PLC 主機(jī)；位置信號(hào)由接近開關(guān)反饋給 PLC 主機(jī)，通過交流電機(jī)的正反轉(zhuǎn)來控制機(jī)械手手爪的張合，從而實(shí)現(xiàn)機(jī)械手精確運(yùn)動(dòng)的功能。關(guān)鍵詞：機(jī)械手 PLC 變頻器 交流電機(jī)AbstractManipulator industrial robot systems traditional mandate, Robot is one of the key ponents. Manipulator using the mechanical structure of screwball, slider, and other mechanical devices position。 location close to the switching signal from the feedback from the mainframe to the PLC, through the exchange of Motor reversion to control the manipulator gripper Zhang, thus achieving accurate manipulator movement functions. The topics to be developed by the Manipulator grasping be up in space objects, movements flexible, diverse, can replace the artificial heat and dangerous operation conducted operations, According to the workpiece can change the campaign process and the requirements of any changes to the relevant parameters. Key Words: Manipulator PLC Inverter AC motor 目 錄摘 要 ..................................................................................................................................................1ABSTRACT........................................................................................................................................2引 言 ................................................................................................................................................4第一章 機(jī)械手機(jī)械結(jié)構(gòu) .................................................................................................................51．1 傳動(dòng)機(jī)構(gòu) ......................................................................................................................51．2 機(jī)械手夾持器和機(jī)座的結(jié)構(gòu) .....................................................................................................6第二章可編程控制 PLC.....................................................................................................................82．1 PLC 簡介 ....................................................................................................................................82．2 PLC 內(nèi)部原理 .......................................................................................................................10A. 系統(tǒng)程序存儲(chǔ)區(qū) ..........................................................................................................................11B. 系統(tǒng) RAM 存儲(chǔ)區(qū) ..........................................................................................................................11C．用戶程序存儲(chǔ)區(qū) ..........................................................................................................................112．3 PLC 的工作原理 ...................................................................................................................122．4 PLC 機(jī)型的選擇方法 ...........................................................................................................152．6 機(jī)械手 PLC 選擇及參數(shù) ......................................................................................................17第三章 三相異步電動(dòng)機(jī)的工作原理及結(jié)構(gòu) ................................................................................193．1 三相異步電動(dòng)機(jī)的結(jié)構(gòu) ..........................................................................................................193．2 三相交流電機(jī)工作原理 ..........................................................................................................233．3 三相電動(dòng)機(jī)的轉(zhuǎn)動(dòng)原理 ..........................................................................................................253．3 機(jī)械手電機(jī)的選用 ................................................................................................................29第四章 變頻器 ..................................................................................................................................29 變頻器的構(gòu)成 ..............................................................................................................................30 變頻器的分類和控制方式 .........................................................................................................34 FRA540 變頻器 .........................................................................................................................37第五章 機(jī)械手 PLC 控制系統(tǒng)設(shè)計(jì) ................................................................................................405．1 機(jī)械手的工藝過程 ..................................................................................................................405．2 PLC 控制系統(tǒng) .......................................................................................................................42致答謝詞 ............................................................................................................................................48參考文獻(xiàn) ............................................................................................................................................49引 言在現(xiàn)代工業(yè)中，生產(chǎn)過程的機(jī)械化、自動(dòng)化已成為突出的主題。同時(shí)，現(xiàn)代生產(chǎn)中，存在著各種各樣的生產(chǎn)環(huán)境，如高溫、放射性、有毒氣體、有害氣體場合以及水下作業(yè)等，這些惡劣的生產(chǎn)環(huán)境不利于人工進(jìn)行操作。工業(yè)機(jī)械手是提高生產(chǎn)過程自動(dòng)化、改善勞動(dòng)條件、提高產(chǎn)品質(zhì)量和生產(chǎn)效率的有效手段之一。在我國，近幾年來也有較快的發(fā)展，并取得一定的效果，受到機(jī)械工業(yè)和鐵路工業(yè)部門的重視。該裝置機(jī)械部分有滾珠絲杠、滑軌、機(jī)械抓手等；電氣方面由交流電機(jī)、變頻器、操作臺(tái)等部件組成。由于時(shí)間倉促和個(gè)人水平限制，我的設(shè)計(jì)存在著許多還沒來得及解