基于PLC的机械手模型控制系统的设计摘要PLC是以现代微处理器技术为核心的控制器，作为一种通用的工业控制器，其可靠性高、抗干扰能力强；PLC由于采用现代大规模集成电路技术，采用严格的生产工艺制造，内部电路采取了先进的抗干扰技术，具有很高的可靠性，此外，PLC带有硬件故障自我检测功能，出现故障时可及时发出警报信息；PLC采用光电隔离和滤波技术技术有效抑制外部干扰源对PLC的影响，此外PLC还可在强、通用性好；开发周期短，功耗小。
本课题对现代工业的的发展具有很重要的意义。
在工业生产和其他领域内，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，增加了工人的劳动强度，甚至于危及生命。
自从机械手问世以来，相应的各种难题迎刃而解。
机械手可在空间抓、放、搬运物体，动作灵活多样，适用于可变换生产品种的中、小批量自动化生产，广泛应用于柔性自动线。
机械手一般由耐高温，抗腐蚀的材料制成，以适应现场恶劣的环境，大大降低了工人的劳动强度，提高了工作效率。
机械手是工业机器人的重要组成部分，在很多情况下它就可以称为工业机器人。
工业机器人是集机械、电子、控制、计算机、传感器、人工智能等多学科先进技术于一体的现代制造业重要的自动化装备。
广泛采用工业机器人，不仅可以提高产品的质量与产量，而且对保障人身安全，改善劳动环境，减轻劳动强度，提高劳动生产率，节约原材料消耗以及降低生产成本，有着十分重要的意义。
可编程控制器是继电器控制和计算机控制出上开发的产品，逐渐发展成以微器处理为核心把自动化技术、计算机技术、通信技术融为一体的新型工业自动控制装置。
关键词：机械手；PLC；变频器；伺服控制器；Design of Manipulator Model Control System based on PLCAbstractPLC is based on modern microprocessor technology as the core of the controller, as a general industrial controller, its large scale integrated circuit technology, the strict production craft manufacture, internal circuit take advanced anti-interference technology, addition, PLC with , failure can be to send out a warning message; PLC adopts photoelectric isolation and filtering techniques technology effectively restrain the interference sources to the influence of the external PLC, in addition PLC still can be in strong, the general good; Short development cycle, power consumption is small. This topic to the development of the modern industry is an important meaning.In the industrial production and other fields because of the need to work, people are often and poisonous gas of the factors such as endanger life. Since the advent since manipulator, the corresponding problems solved. In the space manipulator can catch, put, moving objects, flexible movement, and is suitable for the production of varieties of can transform and small batch automation production, widely used in flexible automatic line. Robots are usually made of of materials, in order to adapt to the site of the bad environment, and greatly reduce the labor intensity, and improve work efficiency. Manipulator is an important part of the industrial robot, and in many cases it can be called industrial robots. Industrial robot is a collection of machinery, electronics, control, computer, sensors, artificial intelligence science advanced technology in one of the modern manufacturing important automation equipment. Widely used industrial robots, not only can improve the quality of products and production, and to ensure safety and security, improve working environment, reduce labor intensity and improve labor productivity, save the materials consumption and reduce the production cost, the product development, gradually developed into with small device for processing the core automation technology, computer technology, communication technology integration of new industrial automatic control device.Key words: manipulator; PLC; Variable-frequency Drive；servo drives；目录摘要 (1)Abstract (1)第一章绪论 (3)1.1 国内外机械手研究概况 (3)1.2 课题研究的内容 (5)第二章系统硬件设计 (7)2.1 机械手控制方式的选择 (7)2.1.1 控制方式的分类 (7)2.1.2 机械手控制方式的选定 (7)2.2 总体方案设计 (8)2.2.1 方案设计 (8)2.2.2 参数 (10)2.3 系统架构及工作流程图 (10)第三章传动带传动及控制系统的设计 (12)3.1 传动带系统构件概述 (12)3.2 电动机的介绍及选用 (12)3.2.1 电动机选用及运行参数 (12)3.2.2 电力拖动系统及变频调速 (13)3.3 传感器 (14)3.3.1光电传感器的分类 (14)3.3.3常用参数 (17)3.3.4 光电传感器选用 (18)3.4 变频调速及变频器的选用 (18)第四章物件搬运系统的设计 (23)4.1 总体设计思路 (23)4.2 气缸的介绍及选用 (24)4.3 伺服电机和伺服控制器的选用 (25)第五章软件系统软件设计 (25)参考文献 (26)致谢 (27)第一章绪论1.1 国内外机械手研究概况在现代工业中，生产过程的机械化，自动化已成为突出的主题。
