PLC在机械手控制系统中的应用

机械手是在机械化、自动化生产过程中发展起来的一种新型装置。它可在空间抓、放、搬运物体等，动作灵活多样，广泛应用在工业生产和其他领域内。应用PLC控制机械手能实现各种规定的工序动作，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。本文以欧姆龙公司的CPMIA为基础，介绍PLC在机械手搬运控制中的应用，并给出了详细的PLC程序设计过程。该程序已在工业机械手中获得了广泛应用，具有稳定、可靠的性能。

The manipulator is a new device developed in the mechanized, automatic production process. It can grab, put and carry object, etc. in the space. Because of its flexibility, the mampulator is widely used in industrial producing and other fields. Manipulator with PLC control can complete various specified procedural actions. Not only can it enhance quality and output, but also it is mean- ingful to ensure the personal security, improve the working environment, lower labor intens：ty, raise labor productivity, save the raw materials consumption and reduce the production cost. Based on the PLC of CPMIA type, this paper introduces PLC application in manipulator transportation control system, and provides PLC programming process in detail. This program which performs stably and reliably has been extensively applied to industrial manipulators.