基于plc的扫描拾取机械手摘要随着社会的进步，工业自动化的发展尤为引人注目。各种机械自动化设备的出现逐渐取代了传统的手工生产。自动化流水线的出现不仅大大提高了工作效率，而且使许多手工操作中存在安全隐患的工序被机械设备所替代，使现代工业更加人性化。机械手在现代自动化中有着非常重要的作用。它不仅可以在有着高温、腐蚀性、有毒等恶劣环境下一直不停工作。它还具有高精度的抓取、传递、旋转和释放。机械手的动作由精密控制系统控制。从早期的继电器控制系统到今天的PLC控制系统，机械手技术的更新是控制系统的发展和完善。在本课题中，我们选用了三菱公司的产品FX系列PLC实现电动工具电机的抓取和传递以及零件的冲压动作。其中电气设备包含有PLC、触摸屏、传感器、直流电源等部件。我们通过可编程控制器的编程，完成了相应的动作，实现了控制功能。关键词：机械手；PLC；控制；设计ScanningpickupmanipulatorbasedonPLCAbstractWiththeprogressofsociety,thedevelopmentofindustrialautomationisparticularlynoticeable.Theemergenceofvariousmechanicalautomationequipmenthasgraduallyreplacedthetraditionalmanualproduction.Theemergenceofautomationpipelinenotonlygreatlyimprovestheefficiencyofwork,butalsomakesmanyprocesseswithhiddensafetyhazardsinmanualoperationreplacedbymechanicalequipment,whichmakesmodernindustrymorehumane.Manipulatorplaysaveryimportantroleinmodernautomation.Itcannotonlyworkcontinuouslyinhightemperature,corrosive,toxicandotherharshenvironments.Italsohashighprecisionofgrasping,transferring,rotatingandreleasing.Themotionofthemanipulatoriscontrolledbyaprecisecontrolsystem.Fromtheearlyrelaycontrolsystemtotoday'sPLCcontrolsystem,theupdateofmanipulatortechnologyisthedevelopmentandimprovementofcontrolsystem.Inthistopic,wechooseMitsubishi'sFXseriesPLCtorealizethegraspingandtransmissionofelectrictoolmotorandthestampingactionofparts.TheelectricalequipmentincludesPLC,touchscreen,sensor,DCpowersupplyandothercomponents.Throughtheprogrammingoftheprogrammablecontroller,wehavecompletedthecorrespondingactionsandrealizedthecontrolfunction.KeyWords：manipulator;PLC;control;design目录摘要..........................................................3关键词........................................................3Abstract......................................................41.可编程控制器PLC.............................................51.1PLC简介................................................51.2PLC内部结构............................................51.2.1中央处理器CPU......................................61.2.2存储器.............................................61.2.3输入输出单元.......................................61.2.4电源部分...........................................81.3PLC的选型..............................................82.机械手概况.................................................102.1机械手的起源与发展.....................................102.2机械手的工作原理.......................................103.机械手控制系统.............................................113.1基于PLC的机械手控制系统的研究意义.....................113.2基于PLC机械手设计的优点...............................113.3机械手实现的功能.......................................124.基于PLC机械手控制系统设计.................................134.1I\O点分配.............................................134.1.1电器元件的选择...................................134.1.2I\O分配..........................................134．2.硬件接线图...........................................144.2.1电气...
