悬臂搬运机器人

The Cantilever Loading Robot

阐述了悬臂搬运机器人的机构组成，工作原理，讨论了以可编程控制器为核心的机器人控制系统。控制软件中的一些方法和技巧对其它工业顺序控制问题具有一定的参考价值。悬臂搬运机器人在中山森莱公司电池极板生产线上的实践应用表明：该机器人具有结构精巧、控制可靠、运行平稳、价格低廉的特点，适于在电池、电镀、热处理、堆垛等行业推广。

This paper describes the mechanism and the operating principle of the cantilever loading robot. Its automatic control system based on PC is discussed in details. Some techniques used in the control program can be used in other control engineering. It is shown by the applied research in the factory that such a cheap robot has characters of the finely structure and smooth operation and is easy to control.