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1设计（论文）题目:机械手控制学生姓名DT专业班级指导老师系主任评阅人2011年04月日2摘要随着社会和科学技术的发展，工业生产的操作方式也发生着革命性的变化，从手工作坊式的劳动，逐渐演变成自动化、智能化的生产方式，人类也逐渐无法完成某些生产过程，所以为了适应生产的需要出现了特殊的生产工具——机械手。与此同时也出现了一些新的生产活动，在这些生产活动中，有些是属于高危险的，对人体伤害较大，有些领域不适宜人类工作，机械手则正好适应这类工作。在当今大规模制造业中，企业为提高生产效率，保障产品质量，普遍重视生产过程的自动化程度，工业机器人作为自动化生产线上的重要成员，逐渐被企业所认同并采用。工业机器人的技术水平和应用程度在一定程度上反映了一个国家工业自动化的水平，目前，工业机器人主要承担着焊接、喷涂、搬运以及堆垛等重复性并且劳动强度极大的工作，工作方式一般采取示教再现的方式。机械手是模仿着人手部的部分动作，按照给定程序、轨迹和要求通过PLC系统控制实现自动抓取、搬运或操作的自动机械装置。关键词：工业,机械手,自动化,PLC3AbstractWiththesocialandscientificandtechnologicaldevelopment,industrialproductionmodeofoperationisalsoundergoingarevolutionarychange,fromtheworkshop-stylehand-labor,andgraduallyevolvedintoautomation,intelligentproductionmethods,humanbeingsareincreasinglyunabletocompletesomeoftheproductionprocess,Sothereinordertomeettheneedsoftheproductionofaspecialproductiontools-mechanicalhand.Atthesametimetherehavebeensomenewproductionactivitiesintheseproductionactivities,thereisahighriskofbodilyharmgreaterinsomeareasunfitforhumanwork,therobotisjusttoadapttosuchwork.Intoday'slarge-scalemanufacturingenterprisestoimproveproductionefficiency,ensureproductquality,attentiontotheproductionprocessingeneralthedegreeofautomation,industrialrobots,automatedproductionlineasanimportantmemberofgraduallybeingrecognizedandadoptedbyenterprises.Industrialrobottechnologyandapplicationstosomeextent,reflecttheextentofacountry'slevelofindustrialautomation,atpresent,industrialrobotismainlyresponsibleforthewelding,coating,handlingandstacking,andlaborintensitygreatlyrepetitivework,workWaytoteachthegeneralwayofreproduction.RobotismodeledonthepartofstaffingtheDepartmentaction,accordingtoagivenprogram,trackandcontrolsystemrequiredbyPLCautomaticcapture,handlingoroperationoftheautomaticmechanicaldevices.Keywords:industrial,mechanicalhand,automation,PLC4目录摘要...................................................................................................2Abstract............................................................................................3目录...................................................................................................4第一章PLC简介.................................................................................61.1PLC的定义..................................................................................61.2PLC的由来及发展........................................................................71.3PLC的特点及用途........................................................................71.3.1PLC具有以下几个主要特点.......................................................81.3.2可编程控制器的应用领域.........................................................81.4PLC的主要技术指标.....................................................................91.5总体控制系统框图......................................................................10第二章机械手简介..........................................................................112.1机械手的定义与分类..................................................................112.2机械手应用及组成结构..............................................................112.3机械手的发展趋势.....................................................................132.4机械手的工程应用.....................................................................132.5机械手设计的要求及目的和意义.................................................142.5.1机械手的设计要求..................................................................142.5.2机械手设计的目的和意义.......................................................14第三章系统设计..............................................................................153.1功能..........................................................................................153.2主令单元...................................................................................163.2.1编程元件................................................................................163.2.2编程语言................................................................................183.2.2.1梯形图................................................................................183.2.2.2指令语句表..........................................................................183.2.2.3PLC的I/O接线图及控制系统外部电机原理图......................21第四章设计逻辑顺序功能图、梯形图、指令表程..............................244.1.1自动控制程序的顺序功能图....................................................244.1.2自动控制程序的指令表...........................................................254.1.3自动控制程序的梯形图...........................................................274.1.4自动控制程序的设计说明.......................................................294.1.5手动控制程序的指令表...........................................................2954.1.6手动控制程序的梯形图...........................................................314.1.7手动控制程序说明..................................................................34结束语.............................................................................................35致谢...............................................................................................36参考文献..........................................................................................376第一章PLC简介1.1PLC的定义可编程控制器（Programmable