机械手外文文献及翻译

EnglishRobot developed in rece nt decades as high-tech automated product ion equipme nt. In dustrial robot is an importa nt branch of in dustrial robots. It features can be programmedto perform tasks in a variety of expectations, in both structure and performa nee adva ntages of their own people and mach in es,in particular, reflects the peoplesin tellige neeandadaptability.The accuracy of robot operations and a varietyofen vir onments the ability to complete the work in the field of n ati onal economy and there are broad prospects for development. With the developme nt of in dustrialautomati on, there has bee n CNCmachi ning cen ter,it is in reduci nglabor inten sity, while greatly improved laborproductivity. However, the upper and lower com mon in CNC mach ining processes material, usually still use manual or traditi onal relay-c on trolled semi-automatic device. The former time-c on sumi ng and labor intensive,inefficient;the latter due to design complexity,require more relays, wiri ng complexity, vuln erability to body vibrati oninterferenee,while the existenee of poor reliability, fault moremaintenance problems and other issues. Programmable Logic Con troller PLC-co ntrolled robot con trol system for materials up and dow n moveme nt is simple, circuitdesig n is reas on able, with a stro ng an ti-jam mingcapability,ensuring the systems reliability, reduced maintenance rate,and improve work efficie ncy.Robot tech no logyrelated to mecha ni cs,mecha ni cs, electricalhydraulic tech no logy, automatic con trol tech no logy, sen sor tech no logy and computer tech no logyand other fields ofscie nee,is across-discipli nary in tegrated tech no logy.First, An overview of in dustrial mani pulatorRobot is a kind of positi oning eon trol can be automated and can be re-programmed to change in multi-functional machine, which has multipledegrees of freedom can be used to carry an object in order to complete the work in differentenvironments. Low wages in China, plastic productsindustry,although still a labor-intensive,mechanical hand use hasbecomeincreasinglypopular. Electronics and automotive industriesthatEurope and the Un ited States mult in ati onalcompa nies very early in theirfactories in Chi na, the in troductio nof automated product ion.But now thecha nges are those found in in dustrial-inten siveSouth China, East Chin ascoastal areas, local plastic process ing pla nts have alsoemerged inmecha ni cal watches bega n to become in creas in gly in terested in, because they have to face a high turno ver rate of workers, as well as for the workers to pay work-related in juries fee challe nges. With the rapid developme nt of Chin as in dustrial product ion, especially the reform and ope ning up after the rapid in crease in the degree of automati on 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 moreand more attracted our attention.Robot is to imitatethe manual part of the action, according to a given program, track and requireme nts for automatic capture,han dli ngor operatio nof theautomatic mecha ni cal 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 productivity is not high, the cost of product ion major, and sometimes man-made in cide nts will occur, result ing in process ing 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 humanright The answer is yes, but the robot can come to replace it. Product ion of mecha ni cal hand can in crease theautomati onlevel ofproducti on andlaborproductivity; can reduce labor intensity, ensuring product quality, to achieve safe product ion; particularly inthehigh-temperature, high pressure, low temperature, 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 product ion.Why would a robot desig ned to provide a pn eumatic power: pn eumatic robot refers to the compressed air as power source-drive n robot. With pressure-drive n and other en ergy-drive n comparis on have the follow ing adva ntages:1. Air in exhaustible, used later discharged into theatmosphere, does not require recycli ng and disposal, do not pollute the environment. (Concept of environmental protection)2. Air stick is small,the pipeline pressure loss is small (typically less than asphalt gas path pressure drop of one-thousandth),to facilitateIong-distaneetransport.3. Compressed air of the working pressure is low (usually 4 to 8 kg / per square cen timeter), and therefore movi ng the material comp onents and manufacturing accuracy requirements can be lowered. 4. With the hydraulic tran smissi on, compared to its faster acti on and react ion, which is one of the advantages pneumatic outstanding. 5. The air cleaner media, it will not dege nerate, not easy to plug the pipeli ne. But there are also places where it fly in the ointment:1. As the compressibility of air, resulting in poor aerodynamic stability of the work, resulting in the implementing age ncies as the precisi on of the velocity and not easily con trolled. 2.As the use of low atmospheric pressure, the output power cannot be too large; in order to in crease the output power is bound to the structure of the en tire pn eumatic system size in creased. With pn eumatic drive and compare with other energy sources drive has the following advantages: Air in exhaustible,used later discharged into the atmosphere, withoutrecycli ng and disposal, do not pollute the en vir onment. Accide ntal or a small amount of leakage would not be a serious impact on product ion.Viscosity of air is small, the pipeline pressure loss also is very small, easy Ion g-dista nee tran sport. The lower work ing pressure of compressed air, pn eumatic comp onents and therefore the material and manu facturi ng accuracy requireme nts can be lowered. In gen eral, reciprocat ing thrust in 1 to 2 tons pneumatic economy is better. Compared with the hydraulic tran smissi on, and its faster action and reacti on, which is one of the outstanding merits of pneumatic. Clean air medium, it will not degenerate, not easy to plug the pipeline. It can be safely used in flammable, explosive and the dust big occasi ons. Also easy to realize automatic overload protecti on.Second, The composition of mechanical handmechanical hand Robot in the form of a variety of forms, some relatively simple, some more complicated, but the basic form is the same as the composition of the Usually by the implementing agencies, tran smissi on systems, con trol systems and auxiliary devices composed.1. Impleme nting age nciesMan ipulator execut ing age ncy by the han ds, Wrists, arms, pillars.Hands are crawlinginstitutions,is used to clamp and release theworkpiece, and similar to huma n fin gers, to complete the staffi ng of similar acti ons. Wrist and fin gers and the arm conn ect ing the comp onents can be up and dow n, left, and rotary moveme nt. A simple mecha ni cal hand cannot wrist. Pillars used to support the arm can also be made mobile as n eeded.2. Tran smissi on The actuatorTransmission The actuator to be achieved by the transmission system. Sub-tra nsmissi onsystem com mon ly used man ipulator mecha ni caltransmission, hydraulic transmission, pneumatic and electric power tran smissi on and other drive several forms.3. Control SystemManipulatorcontrolsystems main role is to controlthe robotaccord ing to certa in procedures, directi on, positi on, speed of action, a simple mecha ni cal hand is gen erally not set up a dedicated con trol system, using only trip switches, relays, control valves and circuits can be achieved dyn amic drive system con trol, so that impleme nti ng age ncies according to the requirements of action. Action will have to use complex programmable robot con troller, the micro-computer con trol.Three, mechanical hand classification and characteristicsRobots are gen erally divided into 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 programmedaccording to the n eeds of the task to complete the operati on of the provisi on s. It is characterized with ordi nary mecha ni cal performa nee, also has gen eral mach in ery, memory, i ntellige nee ternary machi nery. The sec ond category is the need to manually do it, called the operation of aircraft. It orig in ated in the atom, military in dustry, first through the operati on of machines to complete a particular job, and later developed to operate using radio signals to carry out detecting machines such as the Moon. Used in in dustrial man ipulator also fall into this category. The third category is dedicated manipulator, the main subsidiary of the automatic machines or automatic lin es, to solve the mach ine up and dow n the work piece material and delivery. This mecha ni cal hand in foreig n coun tries known as the Mechanical Hand, which is the host of services, from the host-driven;exception of a few outside the working procedures aregen erally fixed, and therefore special. Main features: First,mecha ni calhand (the upper and lower material robot, assembly robot, handling robot, stack ing robot, help robot, vacuum han dli ng mach in es, vacuum suct ion crane,labor-sav ingspreader,pn eumaticbala ncer,etc.).Sec ond,can tilever cran es(ca ntilever crane, electriccha in hoist crane, air balanee the hanging, etcJThird, rail-type transport system (hanging rail, light rail, sin gle girder cran es, double-beam crane) mach in ery,Four, Applicati on anddevelopme ntofin dustrialman ipulatorApplicati on of hand Man ipulator in the mecha ni zati on and automati on of the product ion process developed a n ewtype of device. In rece nt years, as electr onic tech no logy, especially computer exte nsive use of robot developme nt and product ion of high-tech fields has become a rapidly developed a new tech no logy, which further promoted the developme nt of robot,allow ingrobot to better achieved with the comb in ati on ofmechanization and automation. Although the robot is not as flexible as staff, but it has to the continu ous duplicati on of work and labor, I do not know fatigue, not afraid of dan ger, the power sn atch weight characteristics whe n compared with manu al large, therefore, mecha ni cal hand has bee n of great importa nee to many sectors, and in creas in gly has been applied widely, for example: (1)Machining the work piece loading and uni oad ing, especially in the automatic lathe, comb in ati on mach ine tool use is more com mon .(2)1 n the assembly operati ons are widely used in the electronics industry, it can be used to assemble printed circuit boards, in the machinery industry .It can be used to assemble parts and components. (3)The work ing con diti ons may be poor, monotono us, repetitive easy to sub-fatigue working environment to replace human labor.(4)May be in dan gerous situati ons, such as military goods han dli ng, dan gerous goods and hazardous materials removal and so on.(5)Universeand oceandevelopment.(6)Militaryengineering and biomedical research and testing.Help mecha ni cal han ds: also known as the bala ncer, bala nee suspe nded, labor-sav ingspreader, manual Tran sfermach ine is a kindofweightless ness of manu al load system, a no vel, time-sav ing tech no logy for material han dli ng operati ons booster equipme nt, bel onging to kinds ofnon-standard design of series products. Customer applicationneeds,creating customized cases. Manual operation of a simulationof theautomatic machinery, it can be a fixed program draws、handling objectsor perform household tools to accomplish certainspecificactions.Applicati on of robot can replace the people en gaged in monotonous、repetitive or heavy manu al labor, the mecha ni zati on and automati on of product ion, in stead of people in hazardous en vir onments manual operati on, impro ving work ing con diti ons and en sure pers onal safety.The late 20th century, 40, the United States atomic energy experiments, the first use of radioactive material han dli ng robot, huma n robot in a safe room to manipulate various operations and experimentation.50 yearslater, man ipulator and gradually exte nded to in dustrialproduct ion sector,for the temperatures, polluted areas, and load ing and uni oad ing to take place the work piece material, but also as an auxiliary device in automatic mach ine tools, machi ne tools, automatic producti on lines and process ing center applications, the completion of the upper and lower material, or From the library take place knife and so on according to fixed procedures for the replaceme nt operati on. Robot body mainly by the hand and sports institutions.Agencies with the use of hands and operation of objects ofdifferent occasions, often there are clamping、support and adsorptiontype of care. Moveme nt orga ns are gen erallyhydraulicpn eumatic 、electrical device drivers. Man ipulator can be achieved in depe nden tly retractable 、rotatio n and lift ingmoveme nts, gen erally 2 to 3 degrees offreedom. Robots are widely used in metallurgical in dustry, machi nery manufacture, light industry and atomic energy sectors. Can mimic someof the staff and arm motor fun cti on, a fixed procedure for the capture, han dli ng objects or operat ing tools, automatic operati on device. It can replacehuma n labor in order to achieve the producti on of heavymecha ni zati on and automati on that can operate in hazardous en vir onmentsto protect the personal safety, which is widely used in machinery manufacturing, metallurgy, electronics, light industry and nuclear power sectors. Mecha ni cal hand tools or other equipme nt com monly used for additional devices, such as the automaticmachines or automaticproduct ion line han dli ng and tran smissi on of the workpiece,thereplaceme nt of cutt ing tools in machi ning cen ters, etc. gen erally do not have a separate con trol device. Some operati ng devices require direct manipulation by humans; such as the atomic energy sector performs household hazardous materials used in the master-slave mani pulator is also ofte n referred to as mecha ni cal 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 requirements of a variety of structural forms, such as clamp type, type and adsorpti on-based care such as holding. Sports organizations,so that the completion of a varietyof hand rotatio n (swi ng), mobile or compo und moveme nts to achieve the required action, to change the location of objects by grasping and posture. Robot is the automated product ion of a kind used in the process of crawli ng and moving piece features automatic device, which is mecha ni zed and automated producti on process developed a new type of device. In rece nt years, as electro nic tech no logy, especially computer exte nsive use of robot development and production of high-tech fields has becomea rapidly developed a new tech no logy, which further promoted the developme nt of robot, allow ing robot to better achieved with the comb in ati on of mechanization and automation. Robot can replace humanscompleted the risk of duplicati onof bori ng work, to reduce huma nlabor inten sityand improvelabor productivity. Man ipulator has bee n applied more and more widely, in the machi nery in dustry, it can be used for parts assembly, work piece han dli ng, load ing and uni oad ing, particularly in the automati on of CNC mach ine tools, modular mach ine tools more commo nly used.At present, the robot has developed into a FMSIexiblemanufacturingsystems and flexiblemanufacturing cell in an important component of theFMC.The machine tool equipment and machinery in hand together constitute a flexiblemanufacturing system or a flexiblemanufacturing cell, it wasadapted to small and mediumvolume product ion,you can save a huge amountof the work piece conveyor device, compact, and adaptable. Whenthe work piece changes, flexibleproduction system is very easy to change will helpenterprisesto continuouslyupdate the marketable variety, improveproduct quality, and better adapt to market competiti on. At prese nt, Chin as in dustrialrobot tech no logy and its engin eeri ng applicati onleveland comparable to foreigncountriesthere is a certain distanee,application and industrialization of the size of the low level of robot research and developme nt of a direct impact on rais ing the level of automation in China, from the economy, technicalconsiderationsare verynecessary.Therefore, the study of mechanical hand design is verymea nin gful.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