机械手打印版.doc

多轴联动机械手PLC控制设计 摘要工业机械手（以下简称机械手）是近代自动控制领域中出现的一项新技术，已成为现代制造生产系统中的一个重要的组成部分。伴随着机电一体化在各个领域的应用，机械设备的自动控制成分显得越来越重要，由于工作的需要，人们经常受到高温、腐蚀及有毒气体等因素的危害和单调简单的重复性动作增加了工人的劳动强度，甚至于危机生命。因此机械手就在这样需求下诞生了,它可以显著地提高劳动生产率，加快实现工业生产机械化和自动化的步伐。 机械手的控制方式有很多种如步进电动机控制、液压控制、PLC控制、机械式控制、气动控制等 。普通的机械手是简单的通过控制系统控制机械手手臂完成单一的上升、下降的垂直运动和左移、右移的水平运动。机械手通过限位开关进行定位，准确地完成每个工部动作。 本文设计的多轴联动机械手是针对某生产线操作要求，不仅要完成简单的伸缩、上下运动更要完成机械手手臂的旋转运动，故本设计采用三菱FX2N系列PLC进行控制及监控。重点研究了以下几方面：1、根据生产厂家在具体工作过程中的实际生产需求，完成了系统硬件的方案设计。其中包括：硬件的选择和模块的设计。2、依据所选型硬件进行了I/O接口设计并完成了I/O接线及扩展。3、在上述两步的基础上，根据增强型FX2N系列的编程守则，实现了机械手运动控制的梯形图设计，并通过了实际应用检测。 关键词　可编程控制器; 机械手; 多轴联动 PLC ontrol Design for the Multi-axial Linkage Manipulator Abstract Industrial robot manipulators (short as the modern automatic) control in the field of a new technology, has become a modern manufacturing system is an important part. With electromechanical integration in various fields of applications, mechanical equipment automatic control component is becoming more and more important, due to the needs of work, people often under high temperature, corrosion and toxic gases harm of factors such as repetitive movements and drab simple increase workers labor intensity, even life-threatening. So in this manipulator demand, it can significantly improve labor productivity, accelerate industrial production mechanization and automation. The control of the manipulator has many ways, such as stepper motor control, hydraulic control system, PLC control, mechanical control, pneumatic control and etc. Ordinary manipulator is simply through the control system to control the robot arm to complete the rise and fall of a vertical motion and left, right of horizontal motion. Through the limit switch positioning manipulator, accurately finish each ministry. Operation, not only to do simple movement up and down adjustable, more to complete the manipulator arm rotation movement, the design adopts PLC control FX2N Mitsubishi series and monitoring. The key research in the following aspects: 1 Accordi