1、精選優質文檔-傾情為你奉上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.中文機械手是近幾十年發展起來的一種高科技自動化生產設備。工業機械手是工業 機器人的一個重要分支。它的特點是可通過編程來完成各種預期的作業任務，在構造和性能上兼有人和機器各自的優點，尤其體現了人

57、的智能和適應性。機械手作業的準確性和各種環境中完成作業的能力，在國民經濟各領域有著廣闊的發展前景。隨著工業自動化的發展,出現了數控加工中心,它在減輕工人的勞動強度的同時,大大提高了勞動生產率。但數控加工中常見的上下料工序, 通常仍采用人工操作或傳統繼電器控制的半自動化裝置。前者費時費工、效率低; 后者因設計復雜, 需較多繼電器,接線繁雜,易受車體振動干擾,而存在可靠性差、故障多、維修困難等問題。可編程序控制器 PLC 控制的上下料機械手控制系統動作簡便、線路設計合理、具有較強的抗干擾能力,保證了系統運行的可靠性,降低了維修率, 提高了工作效率。機械手技術涉及到力學、機械學、電氣液壓技術、自動控

58、制技術、傳感器技術和計算機技術等科學領域，是一門跨學科綜合技術。一、工業機械手的概述 機械手是一種能自動化定位控制并可重新編程序以變動的多功能機器，它有多個自由度， 可用來搬運物體以完成在各個不同環境中工作。 在工資水平較低的中國，塑料制品行業盡管仍屬于勞動力密集型，機械手的使用已經越來越普及。那些電子和汽車業的歐美跨國公司很早就在它們設在中國的工廠中引進了自動化生產。但現在的變化是那些分布在工業密集的華南、華東沿海地區的中國本土塑料加工廠也開始對機械手表現出越來越濃厚的興趣，因為他們要面對工人流失率高，以及為工人交工傷費帶來的挑戰。隨著我國工業生產的飛躍發展，特別是改革開發以后,自動化程度的

59、迅速提高，實現工件的裝卸、轉向、輸送或操作釬焊、噴槍、扳手等工具進行加工、裝配等作業自動化，已愈來愈引起我們重視。 機械手是模仿著人手的部分動作，按給定的程序、軌跡和要求實現自動抓取、 搬運或操作的自動機械裝置。在現實生活中，你是否會發現這樣一個問題。在機械工廠里，加工零件裝料的 時候是不是很煩的，勞動生產率不高，生產成本大，有時候還會發生一些人為事故，導致加工者受傷。想想看用什么可以來代替呢， 加工的時候只要有幾個人巡視一下，且可以二十四個小時飽和運作，人行嗎？回答是肯定的，但是機械手可以來代替它。生產中應用機械手可以提高生產的自動化水平和勞動生產率;可以減輕勞動強度、保證產品質量、實現安全生產；尤其是在高溫、高壓、低溫、低壓、粉塵、易 爆、有毒氣體和放射性等惡劣的環境中能夠代替人進行正常的工作。想到這里我就很想設計一個機械手，來用于生產實際中。為什么選著設計機械手用氣動來提供動力：氣動機械手是指以壓縮空氣為動力源驅動的機械手。用氣壓驅動與其他能源驅動比較有以下優點：1.空氣取之不竭，用過之后排入大氣，不需要回收和處理，不污染環境。（環保的概念）2.空氣的沾性很小，管路中壓力損失也很小（一般氣路阻力損失不到油路的千分之一），便于遠距離輸送。3.壓縮空氣的工作壓力較低