摘要:机械手是工业自动控制领域中经常遇到的一种控制对象，机械手可以模仿人手和臂的某些动作功能，用于固定程序抓取搬运物件或操作工具的自动操作装置他可以代替人的繁重劳动以实现生产的机械化和自动化能在有害环境下操作以保护人身安全。

　　而随着工业自动化的普及和发展，控制器的需求量逐年增大，搬运机械手的应用也逐渐普及，主要用在汽车，电子，机械加工、食品、医药和冶金等领域的生产流水线或货物装卸调运, 可以更好地节约能源和提高运输设备或产品的效率，以降低其他搬运方式的限制和不足，满足现代经济发展的要求。

    本课题设计的是一个四自由度的轻型气动平动搬运机械手，其机械结构主要包括五个电磁阀和由其控制的五个气缸，通过PLC、电磁阀和气缸等的合作实现机械手的升降旋转伸缩运动及夹紧工件的动作，其动作转换靠设置在各个不同部位的行程开关(SQ1---SQ10)产生的通断信号传输到PLC控制器，通过PLC内部程序输出不同的信号，从而驱动外部线圈来控制电磁阀产生不同的动作，可实现机械手的精确定位。其动作过程包括：小臂伸出、手腕右旋、大臂下降、手指夹紧、大臂上升、大臂右旋、大臂下降、手指松开、大臂上升、手腕左旋、小臂回缩、大臂左旋，回原位；其操作方式包括：复位、启动、停止、手动、自动、单循环、连续；来满足生产中的各种操作要求。

关键词： 搬运机械手   PLC  气动  电磁阀

ABSTRACT:Industrial robots are often encountered in the field of automatic control of a control object, the robot can imitate some of the manpower and arm motor function, for fixing the program crawl carrying objects or operating tools automatically operated device that he can replace human heavy labor in order to achieve production mechanization and automation can operate in hazardous environments to protect the personal safety.    With the popularization and development of industrial automation, controllers demand increases year by year, handling robot applications are becoming more common, mainly used in the automotive, electronic, mechanical processing, food, medicine and metallurgy and other fields of production lines or cargo transporting, you can better conserve energy and improve the efficiency of transport equipment or products in order to reduce the restrictions and other handling methods inadequate to meet the requirements of modern economic development.    Design of this project is a four translational degrees of freedom, lightweight pneumatic transfer robot, the mechanical structure includes five controlled by solenoid valves and five cylinders, through PLC, solenoid valves and cylinders, etc. cooperate to achieve the movements of the robot rotation telescopic movement and the operation of clamping the work piece, which is set by converting the movement of different parts of the travel switch (SQ1 --- SQ10) generated on-off signal to the PLC controller, through the PLC program outputs different signals to drive external coil to control the solenoid valve causes different actions, to achieve precise positioning of the robot. Its action process includes: arms outstretched, wrists clockwise, arms down, fingers clamping arm up, arm D, arms down, release your finger, arm up, left wrist, arm retraction, left arm, back into place ; its mode of operation include: reset, start, stop, manual, automatic, single cycle, continuous; come in a variety of operations to meet production requirements.Keywords:  Handling robot； PLC； pneumatic； solenoidval