文档介绍：毕业设计(论文) I 基于 PLC 控制的机械手设计摘要工业机械手是工业生产的必然产物,它是一种模仿人体上肢的部分功能,按照预定要求输送工件或握持工具进行操作的自动化技术设备,对实现工业生产自动化,推动工业生产的进一步发展起着重要作用。因而具有强大的生命力受到人们的广泛重视和欢迎。实践证明,工业机械手可以代替人手的繁重劳动,显著减轻工人的劳动强度,改善劳动条件,提高劳动生产率和自动化水平。工业生产中经常出现的笨重工件的搬运和长期频繁、单调的操作,采用机械手是有效的。此外,它能在高温、低温、深水、宇宙、放射性和其他有毒、污染环境条件下进行操作,更显示其优越性,有着广阔的发展前途。本设计对机械手进行总体方案的设计,确定了机械手的运动形式和驱动方式, 同时设计了机械手的夹持手部结构,计算出了每一个手臂上的力度。利用可编程控制器对机械手进行控制,选取了合适的 PLC 型号,根据机械手的工作流程制定了可编程序控制器的控制方案,画出了机械手的流程图,并绘制了可编程序控制器的梯形图和状态图。关键词: 机械手, PLC ,电磁阀, 摆动气缸,双联气缸,单联气缸,气爪毕业设计(论文) II PLC-BASED CONTROL OF ROBOT DESIGN ABSTRACT Industrial manipulator is the inevitable product of industrial production, it isa kind of imitation human upper limb of some functions, According to the schedule requires delivery of parts or grip Gongju operate the automation equipment, to the realization of industrial automation, industrial production and further development of Tuidong play important role. Has great vitality is widely valued and ed. Practice shows that the industrial robot can replace the heavy manual labor, significantly reduce labor intensity and improve working conditions, increase labor productivity and automation. Industrial production often cumbersome and long-term frequent handling workpieces, monotonous operation, mechanical hands tobe effective. In addition, it can heat, cold, deep water, the universe, radioactive and other toxic pollution of the environment under the conditions of operation, but also demonstrate its advantages, there are broad prospects for development. The design of the manipulator design an overall program to determine the movement of mechanical hand drive form and manner, and designed the mechanical structure of the hand gripping hand, calculated the intensity of each arm. Programmable controller to control the manipulator, select the appropriate PLC type, according to the workflow manipulator developed a PLC control program, draw a flow chart of the manipulator, and the mapping of the Programmable Logic Controller ladder diagram and state d