1、 I 机械手 PLC 控制系统设计 摘 要 随着科学技术的日新月异，自动化程度要求越来越高，市场竞争激烈、人工 成本上涨，以往人工操作的搬运和固定式输送带为主的传统物件搬运方式，不但 占用空间也不容易更变生产线结构，加上需要人力监督操作，更增加生产成本， 并且效率也不是很理想。通常利用机械手来代替人工操作，来解决这一问题。本 设计中的机械手主要功能是用来抓大小球，绘制出了机械手工作的流程顺序图。 主要控制部分的实现，是以三菱公司的 F1-40M 型号的 PLC 为控制器。设计了机 械手控制系统硬件原理图、梯形图和软件程序流程图，并编写了相应的软件程序。 本设计机械手可以用来实现手动、单周期、单
2、步、连续和复位五种工作状态。 机械手的连续循环操作主要是通过状态初始化指令 IST 来控制，利用限位开关来 控制机械手走的行程。利用开关来实现手动，单周期和复位等操作。 关键词:PLC，机械手，大小球，控制方式，继电器 II DESIGN OF PLC CONTROL SYSTEM FOR MANIPULATOR ABSTRACT With the science and technology development, the degree of automation has become more increasingly demanding and the competition of t
3、he market has become more and more intensely. Because the costs of the labor was rising, the traditional object-oriented way, which were manual handling and the conveyor belt fixed of handling, not only waste space and not easy to change the structure of production lines, coupled with the need for h
4、uman supervision of the operation, but also increase production costs and the efficiency is not very satisfactory. People often use the manipulator to replace the manual operation to solve this problem. The main function of the robot is designed to seize the big and small ball, besides we map out the process sequence diagram of the manipulator. The main part of control is based on Mitsubishi models of the F1-40M for the PLC controller. We designed ladder diagram and software flow chart of man
