【摘要】 冲压上下料设备具有两个机械手，可以同步水平右转或左转、垂直上升或下降，实现冲压生产中上料、下料的自动化。文章设计了以可编程逻辑控制器（Programmable Logic Controller,PLC）为核心的机械手控制系统，它包括触摸屏、伺服驱动和气动控制等。系统设有手动和自动两种工作模式。在自动模式下，一个机械手取走加工好的工件并放置在成品区，另一个机械手同步将待加工的工件从送料台上取走并精确放置到工位。该机械手装置已投入实际应用，具有动作精度高且安全性强的优点，既提高了生产效率，又减轻了劳动强度。更多还原

【Abstract】 Stamping loading and unloading equipment has two manipulators, which can synchronously turn right or left horizontally, rise or fall vertically, and realize the automation of loading and unloading in stamping production. This paper designs a manipulator control system with Programmable Logic Controller(PLC) as the core, which includes touch screen, servo drive and pneumatic control. The system has two working modes: manual and automatic. In automatic mode, one manipulator takes the finished workpiece and places it in the finished product area, while the other manipulator synchronously takes the workpiece to be processed from the feeding table and precisely places it in the station. The manipulator device has been put into practice, its action precision is high and strong safety, not only improve the production efficiency, but also reduce the labor intensity.更多还原