摘要：近年来，由于工厂自动化水平一直提高和劳动力缺乏的日益严重，工厂对机械手的需求将越来越大，这必定促进机械手控制的不断研究与创新。本文是在对目前国内外的工业机械手一定的了解情况下设计的一个用于工厂内节省人力,替代工人简单而机械的重复动作的机械手,能够实现稳定、准确、快速、高效的工作。本设计是以台达PLC控制伺服驱动器来实现对电机的精确控制以及实现搬运的目的，通过电路的设计，和对程序的编写，实现通过触摸屏对机械手运动参数的快速设置、单轴运动、直线运动、速度调节、自动运行和单步运行，而且能够显示机械手的运动信息，和报警信息，外接启动、暂停、急停按钮能够快速对机械手实现基本的操作，降低操作难度，便于在工业上的应用。51973

毕业论文关键词: PLC；伺服电机；人机界面

Design of Control System for Handling Manipulator

Abstract: In recent years, with the rising levels of industrial automation and the lack of labor is getting more and more serious, the factory of manipulator of demand will be more and more. This will promote continuous research and development of manipulator control. This article is in at present domestic and foreign industrial machinery hand some understanding of the context of design of a for the factory to save the manpower, alternative workers simple and the repetition of the mechanical manipulator to achieve stable, accurate, rapid and efficient work. This design is to Delta PLC control servo drive to achieve precise control of the motor and carry, through the design of the circuit, and the program written to achieve through the touch screen on the manipulator motion parameters of quick setting, single axis motion, linear motion and speed regulation, automatic operation and single step operation, but also can display of the manipulator motion information, and the alarm information, external start, pause, emergency stop button can quickly to manipulator to achieve the basic operation and reduce the difficulty in operation, easy in industrial application.

Key Words：PLC；Servo Motor；Interface

目  录

摘要 1

1. 绪论 2

1.1 机械手研究背景及意义 2

1.2 机械手发展的现状及前景 2

1.3 本论文研究任务 3

2. 搬运机械手控制器系统硬件设计 3

2.1 机械手构成 3

2.2 控制部分PLC的选型和接口分配 4

2.3驱动部分伺服驱动器选型及接口功能 6

2.4执行部分电机工作原理和丝杠的选型 7

2.5 感应器的选型和工作原理 8

3. 搬运机械手可编程控制器（PLC）控制方案 8

3.1 可编程控制器（PLC）概述 8

3.2 可编程控制器（PLC）组成 8

3.3 可编程控制器（PLC）工作原理 9

3.4 可编程控制器(PLC)的I/O分配及接线方式 10

3.5 机械手的程序要求 15

4. 搬运机械手人机控制方案 14

4.1 触摸屏DOP-AS38BSTD(-W)概述 14

4.2 触摸屏DOP-AS38BSTD(-W)控制界面 14

4.3 可编程控制器(PLC)部分程序实现的功能