模块化电子气动工业机器人系统设计

A design of transfer robot based on electro-pneumatic controlling technologies

基于电子气动技术与模块化组合式的设计思路,完成了一款用于物料搬运的电子气动机器人本体结构和控制系统设计。详细说明了机器人的本体结构,给出了采用模块化阀岛技术的气动系统原理图,阐述了基于PLC控制器的控制系统的软、硬件设计。设计完成的电子气动搬运机器人综合了圆柱坐标型和极(球)坐标型工业机器人的特点,能实现5个自由度运动。

A type of transfer robot was designed based on electro pneumatic controlling technologies and module structure combination. Structure of the robot was explained in detail, and the corresponding draw for the working principle of the pneumatic system adopted valve island technology was analyzed. Furthermore, the control program and hardware of the control system were demon strated. The electro- pneumatic transfer robot integrated the charac- teristics of cylindrical coordinates and polar （ball） coordinates, it can achieve 5 degrees of freedom movement.