机械手外文文献及翻译(共14页)

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1、精选优质文档-倾情为你奉上EnglishRobot developed in recent decades as high-tech automated production equipment. Industrial robot is an important branch of industrial robots. It features can be programmed to perform tasks in a variety of expectations, in both structure and performance advantages of their own peop

2、le and machines, in particular, reflects the people's intelligence and adaptability. The accuracy of robot operations and a variety of environments the ability to complete the work in the field of national economy and there are broad prospects for development. With the development of industrial

3、automation, there has been CNC machining center, it is in reducing labor intensity, while greatly improved labor productivity. However, the upper and lower common in CNC machining processes material, usually still use manual or traditional relay-controlled semi-automatic device. The former time-cons

4、uming and labor intensive, inefficient; the latter due to design complexity, require more relays, wiring complexity, vulnerability to body vibration interference, while the existence of poor reliability, fault more maintenance problems and other issues. Programmable Logic Controller PLC-controlled r

5、obot control system for materials up and down movement is simple, circuit design is reasonable, with a strong anti-jamming capability, ensuring the system's reliability, reduced maintenance rate, and improve work efficiency. Robot technology related to mechanics, mechanics, electrical hydraulic

6、technology, automatic control technology, sensor technology and computer technology and other fields of science, is a cross-disciplinary integrated technology.First, An overview of industrial manipulator Robot is a kind of positioning control can be automated and can be re-programmed to change in mu

7、lti-functional machine, which has multiple degrees of freedom can be used to carry an object in order to complete the work in different environments. Low wages in China, plastic products industry, although still a labor-intensive, mechanical hand use has become increasingly popular. Electronics and

8、automotive industries that Europe and the United States multinational companies very early in their factories in China, the introduction of automated production. But now the changes are those found in industrial-intensive South China, East China's coastal areas, local plastic processing plants h

9、ave also emerged in mechanical watches began to become increasingly interested in, because they have to face a high turnover rate of workers, as well as for the workers to pay work-related injuries fee challenges. With the rapid development of China's industrial production, especially the reform

10、 and opening up after the rapid increase in the degree of automation to achieve the work piece handling, steering, transmission or operation of brazing, spray gun, wrenches and other tools for processing and assembly operations since, which has more and more attracted our attention. Robot is to imit

11、ate the manual part of the action, according to a given program, track and requirements for automatic capture, handling or operation of the automatic mechanical devices. In real life, you will find this a problem. In the machine shop, the processing of parts loading time is not annoying, and labor p

12、roductivity is not high, the cost of production major, and sometimes man-made incidents will occur, resulting in processing were injured. Think about what could replace it with the processing time of a tour as long as there are a few people, and can operate 24 hours saturated human right The answer

13、is yes, but the robot can come to replace it. Production of mechanical hand can increase the automation level of production and labor productivity; can reduce labor intensity, ensuring product quality, to achieve safe production; particularly in the high-temperature, high pressure, low temperature,

14、low pressure, dust, explosive, toxic and radioactive gases such as poor environment can replace the normal working people. Here I would like to think of designing a robot to be used in actual production.Why would a robot designed to provide a pneumatic power: pneumatic robot refers to the compressed

15、 air as power source-driven robot. With pressure-driven and other energy-driven comparison have the following advantages: 1. Air inexhaustible, used later discharged into the atmosphere, does not require recycling and disposal, do not pollute the environment. (Concept of environmental protection) 2.

16、 Air stick is small, the pipeline pressure loss is small (typically less than asphalt gas path pressure drop of one-thousandth), to facilitate long-distance transport. 3. Compressed air of the working pressure is low (usually 4 to 8 kg / per square centimeter), and therefore moving the material comp

17、onents and manufacturing accuracy requirements can be lowered. 4. With the hydraulic transmission, compared to its faster action and reaction, which is one of the advantages pneumatic outstanding. 5. The air cleaner media, it will not degenerate, not easy to plug the pipeline. But there are also pla

18、ces where it fly in the ointment:1. As the compressibility of air, resulting in poor aerodynamic stability of the work, resulting in the implementing agencies as the precision of the velocity and not easily controlled. 2. As the use of low atmospheric pressure, the output power cannot be too large;

19、in order to increase the output power is bound to the structure of the entire pneumatic system size increased. With pneumatic drive and compare with other energy sources drive has the following advantages: Air inexhaustible, used later discharged into the atmosphere, without recycling and disposal,

20、do not pollute the environment. Accidental or a small amount of leakage would not be a serious impact on production. Viscosity of air is small, the pipeline pressure loss also is very small, easy long-distance transport. The lower working pressure of compressed air, pneumatic components and therefor

21、e the material and manufacturing accuracy requirements can be lowered. In general, reciprocating thrust in 1 to 2 tons pneumatic economy is better. Compared with the hydraulic transmission, and its faster action and reaction, which is one of the outstanding merits of pneumatic. Clean air medium, it

22、will not degenerate, not easy to plug the pipeline. It can be safely used in flammable, explosive and the dust big occasions. Also easy to realize automatic overload protection. Second，The composition of mechanical handmechanical hand Robot in the form of a variety of forms, some relatively simple,

23、some more complicated, but the basic form is the same as the composition of the Usually by the implementing agencies, transmission systems, control systems and auxiliary devices composed.1. Implementing agencies Manipulator executing agency by the hands, Wrists, arms, pillars. Hands are crawling ins

24、titutions, is used to clamp and release the workpiece, and similar to human fingers, to complete the staffing of similar actions. Wrist and fingers and the arm connecting the components can be up and down, left, and rotary movement. A simple mechanical hand cannot wrist. Pillars used to support the

25、arm can also be made mobile as needed. 2. Transmission The actuatorTransmission The actuator to be achieved by the transmission system. Sub-transmission system commonly used manipulator mechanical transmission, hydraulic transmission, pneumatic and electric power transmission and other drive several

26、 forms. 3. Control System Manipulator control system's main role is to control the robot according to certain procedures, direction, position, speed of action, a simple mechanical hand is generally not set up a dedicated control system, using only trip switches, relays, control valves and circui

27、ts can be achieved dynamic drive system control, so that implementing agencies according to the requirements of action. Action will have to use complex programmable robot controller, the micro-computer control.Three, mechanical hand classification and characteristics Robots are generally divided int

28、o three categories: the first is the general machinery does not require manual hand. It is an independent not affiliated with a particular host device. It can be programmed according to the needs of the task to complete the operation of the provisions. It is characterized with ordinary mechanical pe

29、rformance, also has general machinery, memory, intelligence ternary machinery. The second category is the need to manually do it, called the operation of aircraft. It originated in the atom, military industry, first through the operation of machines to complete a particular job, and later developed

30、to operate using radio signals to carry out detecting machines such as the Moon. Used in industrial manipulator also fall into this category. The third category is dedicated manipulator, the main subsidiary of the automatic machines or automatic lines, to solve the machine up and down the work piece

31、 material and delivery. This mechanical hand in foreign countries known as the "Mechanical Hand", which is the host of services, from the host-driven; exception of a few outside the working procedures are generally fixed, and therefore special. Main features: First, mechanical hand (the up

32、per and lower material robot, assembly robot, handling robot, stacking robot, help robot, vacuum handling machines, vacuum suction crane, labor-saving spreader, pneumatic balancer, etc.).Second, cantilever cranes(cantilever crane, electric chain hoist crane, air balance the hanging, etc.)Third, rail

33、-type transport system (hanging rail, light rail, single girder cranes, double-beam crane) machinery, Four, Application and development of industrial manipulatorApplication of hand Manipulator in the mechanization and automation of the production process developed a new type of device. In recent yea

34、rs, as electronic technology, especially computer extensive use of robot development and production of high-tech fields has become a rapidly developed a new technology, which further promoted the development of robot, allowing robot to better achieved with the combination of mechanization and automa

35、tion. Although the robot is not as flexible as staff, but it has to the continuous duplication of work and labor, I do not know fatigue, not afraid of danger, the power snatch weight characteristics when compared with manual large, therefore, mechanical hand has been of great importance to many sect

36、ors, and increasingly has been applied widely, for example: (1)Machining the work piece loading and unloading, especially in the automatic lathe, combination machine tool use is more common.(2)In the assembly operations are widely used in the electronics industry, it can be used to assemble printed

37、circuit boards, in the machinery industry .It can be used to assemble parts and components. (3)The working conditions may be poor, monotonous, repetitive easy to sub-fatigue working environment to replace human labor.(4)May be in dangerous situations, such as military goods handling, dangerous goods

38、 and hazardous materials removal and so on.(5)Universe and ocean development.(6)Military engineering and biomedical research and testing. Help mechanical hands: also known as the balancer, balance suspended, labor-saving spreader, manual Transfer machine is a kind of weightlessness of manual load sy

39、stem, a novel, time-saving technology for material handling operations booster equipment, belonging to kinds of non-standard design of series products. Customer application needs, creating customized cases. Manual operation of a simulation of the automatic machinery, it can be a fixed program drawsh

40、andling objects or perform household tools to accomplish certain specific actions. Application of robot can replace the people engaged in monotonous repetitive or heavy manual labor, the mechanization and automation of production, instead of people in hazardous environments manual operation, improvi

41、ng working conditions and ensure personal safety. The late 20th century, 40, the United States atomic energy experiments, the first use of radioactive material handling robot, human robot in a safe room to manipulate various operations and experimentation. 50 years later, manipulator and gradually e

42、xtended to industrial production sector, for the temperatures, polluted areas, and loading and unloading to take place the work piece material, but also as an auxiliary device in automatic machine tools, machine tools, automatic production lines and processing center applications, the completion of

43、the upper and lower material, or From the library take place knife and so on according to fixed procedures for the replacement operation. Robot body mainly by the hand and sports institutions. Agencies with the use of hands and operation of objects of different occasions, often there are clampingsup

44、port and adsorption type of care. Movement organs are generally hydraulic pneumatic electrical device drivers. Manipulator can be achieved independently retractablerotation and lifting movements, generally 2 to 3 degrees of freedom. Robots are widely used in metallurgical industry, machinery manufac

45、ture, light industry and atomic energy sectors. Can mimic some of the staff and arm motor function, a fixed procedure for the capture, handling objects or operating tools, automatic operation device. It can replace human labor in order to achieve the production of heavy mechanization and automation

46、that can operate in hazardous environments to protect the personal safety, which is widely used in machinery manufacturing, metallurgy, electronics, light industry and nuclear power sectors. Mechanical hand tools or other equipment commonly used for additional devices, such as the automatic machines

47、 or automatic production line handling and transmission of the workpiece, the replacement of cutting tools in machining centers, etc. generally do not have a separate control device. Some operating devices require direct manipulation by humans; such as the atomic energy sector performs household haz

48、ardous materials used in the master-slave manipulator is also often referred to as mechanical hand.Manipulator mainly by hand and sports institutions. Task of hand is holding the workpiece (or tool) components, according to grasping objects by shape, size, weight, material and operational requiremen

49、ts of a variety of structural forms, such as clamp type, type and adsorption-based care such as holding. Sports organizations, so that the completion of a variety of hand rotation (swing), mobile or compound movements to achieve the required action, to change the location of objects by grasping and

50、posture. Robot is the automated production of a kind used in the process of crawling and moving piece features automatic device, which is mechanized and automated production process developed a new type of device. In recent years, as electronic technology, especially computer extensive use of robot

51、development and production of high-tech fields has become a rapidly developed a new technology, which further promoted the development of robot, allowing robot to better achieved with the combination of mechanization and automation. Robot can replace humans completed the risk of duplication of borin

52、g work, to reduce human labor intensity and improve labor productivity. Manipulator has been applied more and more widely, in the machinery industry, it can be used for parts assembly, work piece handling, loading and unloading, particularly in the automation of CNC machine tools, modular machine to

53、ols more commonly used.At present, the robot has developed into a FMS flexible manufacturing systems and flexible manufacturing cell in an important component of the FMC. The machine tool equipment and machinery in hand together constitute a flexible manufacturing system or a flexible manufacturing

54、cell, it was adapted to small and medium volume production, you can save a huge amount of the work piece conveyor device, compact, and adaptable. When the work piece changes, flexible production system is very easy to change will help enterprises to continuously update the marketable variety, improv

55、e product quality, and better adapt to market competition. At present, China's industrial robot technology and its engineering application level and comparable to foreign countries there is a certain distance, application and industrialization of the size of the low level of robot research and d

56、evelopment of a direct impact on raising the level of automation in China, from the economy, technical considerations are very necessary. Therefore, the study of mechanical hand design is very meaningful.中文机械手是近几十年发展起来的一种高科技自动化生产设备。工业机械手是工业 机器人的一个重要分支。它的特点是可通过编程来完成各种预期的作业任务，在构造和性能上兼有人和机器各自的优点，尤其体现了人

57、的智能和适应性。机械手作业的准确性和各种环境中完成作业的能力，在国民经济各领域有着广阔的发展前景。随着工业自动化的发展,出现了数控加工中心,它在减轻工人的劳动强度的同时,大大提高了劳动生产率。但数控加工中常见的上下料工序, 通常仍采用人工操作或传统继电器控制的半自动化装置。前者费时费工、效率低; 后者因设计复杂, 需较多继电器,接线繁杂,易受车体振动干扰,而存在可靠性差、故障多、维修困难等问题。可编程序控制器 PLC 控制的上下料机械手控制系统动作简便、线路设计合理、具有较强的抗干扰能力,保证了系统运行的可靠性,降低了维修率, 提高了工作效率。机械手技术涉及到力学、机械学、电气液压技术、自动控

58、制技术、传感器技术和计算机技术等科学领域，是一门跨学科综合技术。一、工业机械手的概述 机械手是一种能自动化定位控制并可重新编程序以变动的多功能机器，它有多个自由度， 可用来搬运物体以完成在各个不同环境中工作。 在工资水平较低的中国，塑料制品行业尽管仍属于劳动力密集型，机械手的使用已经越来越普及。那些电子和汽车业的欧美跨国公司很早就在它们设在中国的工厂中引进了自动化生产。但现在的变化是那些分布在工业密集的华南、华东沿海地区的中国本土塑料加工厂也开始对机械手表现出越来越浓厚的兴趣，因为他们要面对工人流失率高，以及为工人交工伤费带来的挑战。随着我国工业生产的飞跃发展，特别是改革开发以后,自动化程度的

59、迅速提高，实现工件的装卸、转向、输送或操作钎焊、喷枪、扳手等工具进行加工、装配等作业自动化，已愈来愈引起我们重视。 机械手是模仿着人手的部分动作，按给定的程序、轨迹和要求实现自动抓取、 搬运或操作的自动机械装置。在现实生活中，你是否会发现这样一个问题。在机械工厂里，加工零件装料的 时候是不是很烦的，劳动生产率不高，生产成本大，有时候还会发生一些人为事故，导致加工者受伤。想想看用什么可以来代替呢， 加工的时候只要有几个人巡视一下，且可以二十四个小时饱和运作，人行吗？回答是肯定的，但是机械手可以来代替它。生产中应用机械手可以提高生产的自动化水平和劳动生产率;可以减轻劳动强度、保证产品质量、实现安全

60、生产；尤其是在高温、高压、低温、低压、粉尘、易 爆、有毒气体和放射性等恶劣的环境中能够代替人进行正常的工作。想到这里我就很想设计一个机械手，来用于生产实际中。为什么选着设计机械手用气动来提供动力：气动机械手是指以压缩空气为动力源驱动的机械手。用气压驱动与其他能源驱动比较有以下优点：1.空气取之不竭，用过之后排入大气，不需要回收和处理，不污染环境。（环保的概念）2.空气的沾性很小，管路中压力损失也很小（一般气路阻力损失不到油路的千分之一），便于远距离输送。3.压缩空气的工作压力较低(一般为 48 公斤/每平方厘米)，因此对传动元件的材质和制造精度要求可以降低。 4.与液压传动相比， 它的动作和反

61、应都快，这是气动突出的优点之一。5.空气介质清洁，亦不会变质，管路不易堵塞。但是也有它美中不足的地方：1.由于空气的可压缩性，致使气动工作的稳定性差，因而造成执行机构运动速度和定为精度不易控制。2.由于使用气压较低，输出力不可能太大，为了增加输出力，必然使整个气动系统的结构尺寸加大。用气压驱动与用其他能源驱动比较有以下优点：空气取之不竭，用过之后排入大气，不需回收和处理，不污染环境。偶然的或少量的泄漏不致对生产发生严重的影响。空气的粘性很小，管路中压力损失也就很小，便于远距离输送。 压缩空气的工作压力较低，因此对气动元件的材质和制造精度要求可以降低。 一般说来，往复运动推力在 12 吨以下采用

62、气动经济性较好。与液压传动相比，它的动作和反应都快，这是气动的突出优点之一。空气介质清洁，亦不会变质，管路不易堵塞。它可安全地应用在易燃、易爆和粉尘大的场合。又便于实现过载自动保护.二机械手的组成 机械手的形式是多种多样的，有的较为简单，有的较为复杂，但基本的组成形式是相同的，一般由执行机构、传动系统、控制系统和辅助装置组成。 1. 执行机构 机械手的执行机构，由手、手腕、手臂、支柱组成。手是抓取机构，用来夹紧和松开工件，与人的手指相仿，能完成人手的类似动作。手腕是连接手指与手臂的元件，可以进行上下、左右和回转动作。简单的机械手可以没有手腕。支柱用来支撑手臂，也可以根据需要做成移动。 2. 传

63、动系统 执行机构的动作要由传动系统来实现。常用机械手传动系统分机械传动、液压 传动、气压传动和电力传动等几种形式。 3. 控制系统 机械手控制系统的主要作用是控制机械手按一定的程序、方向、位置、速度进行动作，简单的机械手一般不设置专用的控制系统，只采用行程开关、继电器、控 制阀及电路便可实现动传动系统的控制，使执行机构按要求进行动作动作复杂的 机械手则要采用可编程控制器、微型计算机进行控制。 三、机械手的分类和特点机械手一般分为三类：第一类是不需要人工操作的通用机械手。它是一种独立的不附属于某一主机的装置。它可以根据任务的需要编制程序，以完成各项规定的操作。它的特点是具备普通机械的性能之外，还

64、具备通用机械、记忆智能的三元机械。第二类是需要人工才做的，称为操作机。它起源于原子、军事工业，先是通过操作机来完成特定的作业，后来发展到用无线电讯号操作机来进行探测月球等。工业中采用的锻造操作机也属于这一范畴。第三类是用专用机械手，主要附属于自动机床或自动线上，用以解决机床上下料和工件送。这种机械手在国外称为 “Mechanical Hand”，它是为主机服务的，由主机驱动；除少数以外，工作程序 一般是固定的，因此是专用的。 主要特点：(1)机械手（上下料机械手、装配机械手、搬运机械手、堆垛机械手、助力机 械手、真空搬运机、 真空吸吊机、省力吊具、气动平衡器等）。(2)悬臂起重机（悬臂吊、电动

65、环链葫芦吊、气动平衡吊等）(3)导轨式搬运系统（悬挂轨道、轻型轨道、单梁起重机、双梁起重机）四、工业机械手的应用发展 机械手是在机械化、自动化生产过程中发展起来的一种新型装置。近年来，随着电子技术特别是电子计算机的广泛应用，机器人的研制和生产已成为高技术领域 内迅速发展起来的一门新兴技术，它更加促进了机械手的发展，使得机械手能更好地实现与机械化和自动化的有机结合。 机械手虽然目前还不如人手那样灵活，但它具有能不断重复工作和劳动、不知 疲劳、不怕危险、抓举重物的力量比人手大等特点，因此，机械手已受到许多部门的重视，并越来越广泛地得到了应用，例如：(1)机床加工工件的装卸，特别是在自动化车床、组合

66、机床上使用较为普遍。(2)在装配作业中应用广泛，在电子行业中它可以用来装配印制电路板，在机 械行业中它可以用来组装零部件。(3)可在劳动条件差，单调重复易子疲劳的工作环境工作，以代替人的劳动。(4)可在危险场合下工作，如军工品的装卸、危险品及有害物的搬运等。(5)宇宙及海洋的开发。(6)军事工程及生物医学方面的研究和试验。 助力机械手:又称平衡器、平衡吊、省力吊具、手动移载机等，是一种无重力 化手动承载系统，一种新颖的、用于物料搬运时省力化操作的助力设备,属于一种非标设计的系列化产品。针对客户应用需求，量身定制的个案创作。一种模拟人手操作的自动机械，它可按固定程序抓取搬运物件或操持工具完 成某些特定操作。应用机械手可以代替人从事单调重复或繁重的体力劳动，实现生产的机械化和自动化，代替人在有害环境下的手工操作，改善劳动条件，保证人身安全。20世纪 40年代后期，美国在原子能实验中，首先采用机械手搬运放射性 材料，人在安全室操纵机械手进行各种操作和实验。50年代