基于plc的扫描拾取机械手摘要随着社会的进步，工业自动化发展尤为瞩目，各种机械自动化设备的产生，逐步取代了传统手工制作。自动化流水线的产生，不仅大大提高了工作效率，也让许多人工操作存在安全隐患的流程被机械设备替代，让现代工业变得更具人性化。机械手在当代自动化流行中起着重要的作用，一方面其能够在高温、腐蚀性、有毒等恶劣环境下持续工作，另一方面其在完成抓取、转移、旋转、释放等动作时候精确度也较高。机械手的动作是由精确的控制系统来控制完成的，从早期的继电器控制系统发展到如今的PLC控制系统，机械手技术的更新就是控制系统的发展和完善。本次课题是选用三菱公司的FX系列PLC，完成对电动工具电机的抓取转移以及零件的压装动作。电气设备有PLC、触摸屏、传感器、直流电源等。通过可编程控制器的程序设计，完成相应的动作，实现控制功能。关键词：机械手；PLC；控制；设计ThedesignofcontrolsystemofmanipulatorbasedonPLCAbstractAlongwithsocialprogress,industrialautomationdevelopmentisparticularlyattention,produceavarietyofmachineryautomationequipment,andgraduallyreplacedthetraditionalhand-made.Automatedassemblylineproduction,notonlygreatlyimprovetheworkefficiency,butIalsotomanyunsafemanualprocessesarereplacedbymachineryandequipment,sothatmodernindustrytobecomemorehumane.Roboticautomationplaysincontemporarypopularanimportantrole,ontheonehanditcancontinuetooperateathightemperatures,corrosive,toxicandotherharshenvironments,ontheotherhanditscompletecapture,transfer,rotation,andothermovementsreleasetimeaccuracyalsohigher.Arobotiscontrolledbyaprecisesystemcontroliscompleted,fromtheearlydevelopmentoftherelaycontrolsystemtotoday'sPLCcontrolsystem,thedevelopmentofrobottechnologyupdateisthecontrolsystemandperfect.TheissueisthechoiceofMitsubishiFXseriesPLC,thecompletionofthepress-fitelectricpowertoolsandpartofthetransferoperationcrawl.ElectricalequipmentPLC,touchscreen,sensors,DCpowersupplies.ByPLCprogramming,completetheappropriateactionstoachievethecontrolfunction.KeyWords：manipulator;PLC;control;designII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电气主接线........................................144.2.2PLC输...
