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摘要

随着我国现代化工业技术的长足发展，我国企业的工业自动化以及技术水平的正在不断提高，生产条件也趋向于有不良的态势，这对一线工人操作技能也提出了更高的要求，同时对作业工人的安全性也得到了相应的威胁。工人的工作环境和工作内容也需要理想化简单化的一些工作来回的机器人远程控制或自动完成是非常重要的。有些人无法避免身体接触与人体伤害，如冶金，化工，医药，航空航天等。在机械制造中，机器人应用的发展更为迅猛。目前使用于机床、锻造机、上下材料、焊接、喷漆等工作，它可以按照预先设定的运行操作程序进行预先设定的操作，有的还具有感官反馈的能力，可以应付外界的变化。如果机器人偏离某一特定的发生，它会对零件或机器本身造成损害，但如果反馈传感器与自动机器人可以根据反馈自动调节。应用机器人，将有助于提高自动化程度的转印材料，工件的处理，机床的更换和装配等，它可以提高劳动生产率，降低生产成本，加快工业生产机械化和自动化的步伐。

机器人的现代技术辐射范围较广，包括科学力学、电气液压技术、力学、计算机技术自动控制技术和传感器技术，是一个跨学科的技术。近年来，随着计算机技术、电子技术和传感器技术在机器人应用中越来越多的应用，机器人已成为提高劳动生产率的重要因素之一。近几十年工业机器人是一种高科技的自动化生产设备。工业机器人是工业机器人的一个重要分支。它的特点，可以通过各种工作任务的编程，无论是人和机器自身的优势，在建设和性能，特别是体现了人类的智慧和适应性。在国民经济各领域工作的准确性和各种环境机械手的工作能力，具有广阔的发展前景。

本文拟开发物料搬运机器人，日本三菱FX2N系列PLC、机器人的上、下、左、右以及爬行运动控制。滚珠丝杆的机械部分，滑动装置，机械抓地力等；用交流电机、变频器、控制台等部件进行电气化。我们采用可编程技术，结合适当的硬件手段控制机器人完成各种动作。由于时间限制和个人的局限性，我的设计，有很多不足够的时间来解决这个问题，我希望广大的教师，学生可以给予批评和解决。

关键词:可编程序控制器PLC；机械手；步进电机

Abstract

With the development of modern industrial technology, industrial automation, technology continues to improve production conditions also tend to have an adverse situation, which front-line workers operating skills are also put forward higher requirements, while on the job security of workers has also been the corresponding threat. Working environment and the content of workers also need to simplify some of the work back and forth idealized robot remote control or auto-complete is very important. Some people can not avoid physical contact with the human body injury, such as metallurgy, chemicals, pharmaceuticals, aerospace and so on.Machinery manufacturing, the more rapid development of robotic applications. Currently used in machine tools, forging machine, the upper and lower material, welding, painting and other work, it can be pre-set to run according to a predefined operating procedures, and some also have the ability to sensory feedback and can cope with the outside world changes. If the robot deviates from a particular occurrence, it would cause damage to the parts or the machine itself, but if the feedback sensor and automatic robot can automatically adjust according to the feedback. Application robot, will help to improve the degree of automation of the transfer material, workpiece handling, machine tools and assembly replacement, it can improve labor productivity, reduce production costs, speed up the pace of industrial production mechanization and automation.

Robotics technology involves the mechanical sciences, mechanical, electrical, hydraulic technology, automatic control technology, sensor technology and computer technology, it is an interdisciplinary technology. In recent years, as computer technology, electronics and sensor technology in robotic applications in more and more applications, robots have become an important factor in improving labor productivity.In recent decades industrial robot is a high-tech automated production equipment. Industrial robot is an important branch of industrial robots. It features a variety of tasks can be programmed, both man and machine their own advantages, construction and performance, in particular, reflects the human intelligence and adaptability. The accuracy and the ability to work in a variety of environments robot work in various fields of national economy, and has broad prospects for development.

This article intends to develop material handling robots, Mitsubishi FX2N series PLC, robot, down, left, right and crawling motion control. The mechanical part of the ball screw, slide, mechanical grip, etc; AC motor, inverter, console and other components for electrification. We use programmable technology, combined with the appropriate hardware means for controlling the robot to complete a variety of actions.Owing to time constraints and personal limitations of my design, there are many not enough time to solve this problem, I hope that the majority of teachers and students can be criticized and resolved.

Keywords: PLC; manipulator; stepper motor

目录

第一章引言……………………………………………………….. 2

1.1 课题的来源以及现实意义………………………………………. 2

1.2机械手简介………………………………………………….. 2

1.2.1 概述…………………………………………………. 2

1.2.2 机械手的组成………………………………………….. 3

1.3 机械手的分类……………………………………………….. 5

1.4 机械手的应用……………………………………………….. 5

第二章机械手的控制方案与选择………………………………………. 6

2.1 控制要求…………………………………………………… 6

2.2 机械手的控制系统设计方案的比较……………………………….. 6