摘要在当今社会的制造业中，企业为提高生产效率，普遍重视生产过程的自动化程度。机 械手是在自动化生产过程中使用的一种具有抓取和移动工件功能的自动化装置，它是在机 械化、自动化生产过程中发展起来的一种新型装置。本文主要针对生产线上的自动化设计了一个模块工装下线机械手，实现模块下线的自 动化。该机械手能实现机械手的伸缩、升降、夹紧和放松等动作。驱动系统采用气压驱动， 实现了手臂的夹紧和放松动作。控制系统采用PLC控制，通过控制伺服电动机来实现机械 手的上下、左右运动。机械手设手动和自动两种工作方式，可以通过转换开关进行工作方 式转换。系统设有报警功能，当机械手出现故障时，能及时报警。通过上述工作，机械手最终能够按照控制程序的要求进行运动，并且实现了上位机监 控系统对本机械手的直观形象观测，达到了本论文的设计目的和要求。关键词：机械手；PLC；气压驱动；伺服电动机AbstractThe manufacturing sector in todays society, enterprises to improve production efficiency and pay more attention to the degree of automation of production processes. Manipulator is a kind of grasping and moving the workpiece function automation device used in the automatic production process, it is a new device developed in the mechanization, automation of the productive process.This paper mainly aims at the automated production line design a modular fixture assembly manipulator, realizing the automation module assembly line. The manipulator can realize mechanical hand stretching, lifting, clamping and relax action. The drive system uses the pneumatic drive, realizing the arm clamp and the relaxation of action. The control system adopts PLC control, through the control of servo motor to realize the mechanical hand up and down, left and right movement. Manipulator with two types of manual and automatic operation mode,can switch work mode by switch. The system has alarm function, when the mechanical hand malfunction, timely alarms.Through the work above, mechanical hand finally able to exercise control in accordance with the program requirements, and the realization of the visual observation of the manipulator of the PC monitoring system, to achieve the design objectives and requirements.Key words: Manipulator; PLC; pneumatic drive; servo motor