一种小型专用分拣机械手的设计与研究
高强1，吴忠亿1，邵长猛2
（1.沈阳工程学院 机械学院，辽宁 沈阳110136；2.京能锡林郭勒发电有限公司，内蒙古 锡林郭勒 026000）
摘要：根据企业需求，论述基于PLC控制的物品分拣机械手，以实现对不同颜色物品归类的目的。对机械手控制和驱动系统、执行机构进行了系统化设计，使用AutoCAD、UG三维软件建模、绘制控制电路图、液压图、分配I/O接口编制PLC程序，着重对手部夹持力进行计算并选取液压缸，使用力控软件搭建模型进行模拟运行，验证程序的可行性，达到预期效果，并试制出样机。
关键词：机器手；液压；PLC；UG
中图分类号：TP273 文献标志码：A doi：10.3969/j.issn.1006-0316.2018.05.013
文章编号：1006－0316 (2018) 05－0048－04
Design and Research of a Small Sorting Manipulator System
GAO Qiang1，WU Zhongyi1，SHAO Changmeng2
( 1.Mechanical engineering institute, Shenyang Institute of Engineering, Shenyang 110168, China;
2.Beijing gol Power Co. Ltd, Xilinguole 026000, China )
2.Beijing gol Power Co. Ltd, Xilinguole 026000, China )
Abstract：This paper is based on the needs of enterprise, discuss the sorting manipulator that is used to control of goods is based on the PLC so that achieve the purpose for sorting the different colors of goods. the control of manipulator、diving system and executive mechanism are designed systematically in the paper, make use of 3D software-Auto CAD、UG to be modeling、drawing control circuit diagram、hydraulic chart、compiling PLC program by distributing i/o interface, the main point is the calculation of gripping force of hand and choose hydraulic cylinder, make use of force control software to build model so that simulation operation、verify the feasibility of the program and achieve desired results and try on make the prototype machine.
Key words：robot hand；hydraulic；PLC；UG
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收稿日期：2017－10－24
作者简介：高强（1986－），男，满族，辽宁葫芦岛人，硕士，工程师，主要研究方向为人工智能。
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