摘要 本文簡要介紹了工業機器人的概念，機械手硬體和軟體的組成，即PLC控制的氣動機械手的系統工作原理，機械手各個部件的整體尺寸設計，氣動技術的特點，PLC控制的特點。本文對機械手進行總體方案設計，確定了機械手的坐標形式和自由度，確定了機械手的技術參數。同時，設計了機械手的夾持式手部結構，設計了機械手的手腕結構，計算出了手腕轉動時所需的驅動力矩和迴轉氣缸的驅動力矩。設計了機械手的手臂結構。設計出了機械手的氣動系統，繪製了機械手氣壓系統工作原理圖，大大提高了繪圖效率和圖紙質量。利用可編程序控制器對機械手進行控制，選取了合適的PLC型號，根據機械手的工作流程制定了可編程序控制器的控制方案，畫出了機械手的工作時序圖，並繪製了可編程序控制器的控制程序。
關鍵詞： 工業機器人 機械手 氣動 可編程序控制器（PLC）
Structural Design of Multi-purpose Pneumatic Robot
Abstract At first, the paper introduces the conception of the industrial robot and the Eller. Dairy information of the development briefly. What’s more, the paper accounts for the background and the primary mission of the topic. The paper introduces the function, composing and classification of the manipulator, tells out the free-degree and the form of coordinate. At the same time, the paper gives out the primary specification parameter of this manipulator,The paper designs the structure of the hand and the equipment of the drive of the manipulator. This paper designs the structure of the wrist, computes the needed moment of the drive when the wrist wheels and the moment of the drive of the pump.The paper designs the structure of the arm.The paper designs the system of air pressure drive and draws the work principle chart, the manipulator uses PLC to control. The paper institutes two control schemes of PLC according to the work flow of the manipulator. The paper draws out the work time sequence chart and the trapezium chart. What’s more, the paper workout the control program of the PLC,
KEY WORDS: industrial robot manipulator pump air pressure drive PLC
