介绍了一种基于PLC控制的平面关节型机器人的设计方法。该装置具有钳爪式手、连杆、关节、电机、基座等结构,能够完成对工件的抓放、提升、下移、手臂的左右摆动、转轴的左右旋转等多个自由度。重点设计了机器人最关键的手部部位,在PLC的控制下可以实现单步和自动循环的工作方式。 A design method of planar articulated robot based on PLC control is introduced. The utility model has the structures of jaw claws, connecting rods, joints, motors, bases and the like, and can realize multiple degrees of freedom of grasping, lifting, moving the arm left and right, rotating the left and right sides of the rotating shaft of the workpiece and the like. Focus on the design of the robot’s most critical hand parts, under the control of the PLC can be achieved single-step and automatic cycle of work.