本实例是一个用 MEL SEC F1-20MR 可编程控制器控制的气动搬运机械手(如图1)。机械手由水平伸缩运动气缸、垂直升降运动气缸和真空吸盘组成。搬运对象为圆球。每次循环是将圆球在图示的位置被真空吸盘吸取,由单作用垂直气缸的活塞杆提升到上止点,水平气缸的活塞杆带动垂直气缸连同被吸的圆球一起缩回到终点位置,切断真空吸盘的负压,圆球落在螺旋形导轨的末端,由于导轨的始端和末端在垂直 This example is a pneumatic handling robot controlled by the MEL SEC F1-20MR programmable controller (Figure 1). The manipulator consists of a horizontal telescopic cylinder, a vertical lifting cylinder and a vacuum suction cup. Handling object for the ball. Each cycle is the ball in the position shown by the suction suction sucker, the single-acting vertical cylinder piston rod raised to the top dead center, the horizontal cylinder piston rod drives the vertical cylinder together with the suction ball is retracted to the end Position, cut off the negative pressure of the vacuum chuck, the ball falls on the end of the spiral guide, the beginning and end of the guide rail in the vertical