机械手外文翻译3.docx

附 录manipulatormanipulator is nearly decades developed a kind of high-tech automatic production equipment. industrial manipulator is industrial robot as an important branch. its characteristic is can programmed to perform a variety of expected task, structure and performance in both of their respective and robot a bit, especially reflected the intelligence of person and adaptability. manipulator and the accuracy of all kinds of environment homework in finish the homework ability, in all areas of the national economy has broad prospects for development. along with the development of industrial automation, the emergence of a nc machining center, it in to reduce the labor intensity and at the same time, greatly improving the productivity of labour. but in the numerical control processing common up-down material process, usually still use manual operation or traditional relay control half automatic device. the former drilling wastes time workers, the efficiency is low; the latter for design complex, need to be more relays, wiring multifarious, vulnerable to body vibration interference, and exist to poor reliability and analyzed, maintenance difficulty. programmable controller plc control of the robot control system action up-down material is simple, convenient, circuit design is reasonable, has strong anti-jamming ability, ensure that the system reliability of operation, and to reduce the maintenance rate, and improve work efficiency. manipulator involves mechanics, mechanics, electric hydraulic pressure technology, automatic control technology, the sensor technology and computer technology, the field of science, and is an interdiscipline integrated technology.first，a industrial overview of manipulatormanipulator is a position control and automation to programming changes to the multi-function machine, it has more freedom, can be used to carry objects to complete in every different environment. in the low level of wages in china, the plastic products industry still belongs to the labour-intensive, the use of robots has been more and more popular. the electronic and cars in the united states and europe multinational companies have long in the factory in china they brought in the automation production. but now the change is the distribution in the industrial intensive south, east coastal area of china local plastic factories are beginning to manipulator show more and more interest, because they will face losing workers high, as well as the challenges of inductrial injury worker pay.with the rapid development of our industrial production, especially after the reform and development, automation degree of increasing quickly, realize the workpiece loading, unloading, turn to, transmission or operating fiber airbrush, welding, and wrench and tools for processing, assembling and homework since the change, already more and more cause our attention.manipulator is part of the action imitating the hands, according to the given program, track and demanding acquirement, handling or operation of the automatic mechanical device.in real life, if you will find such a problem. in machinery factory, processing components of loading and unloading time is very vexed, labor productivity is not high, the production cost, sometimes happen some human accident, resulting in processors were injured. think about it with what can instead of it, processing of time as long as there are several people looked around the, and can be twenty-four hours in saturated operation, pedestrian? the answer is yes, but manipulator can instead of it.production application can improve the production of the manipulator automation level and the labor productivity; can reduce labor intensity, ensure the quality of products, and realize safe production; especially in high temperature, high pressure, low temperature, low pressure, dust, explosive, toxic gases and radiation and other heavy environment can replace people normal work. thought of here i very want to design a manipulator, to used in the production practice.why choose the design with pneumatic manipulator to provide the power: pneumatic manipulator is to point to to compressed air as power source drive of the manipulator. with pneumatic drive and other energy drive more has the following advantages: 1. the air inexhaustible, and after with vented into the air, do not need to recycle and the processing. dont pollute the environment. (environmental protection concept) 2. the air with sex is very small, in pipeline pressure loss also very small (general gas road less than one over one thousand of the oil resistance losses), facilitate transmitted over a long distance. 3. compressed air pressure low (is commonly 4 to 8 kg/every square centimeters), so the pneumatic components material and manufacturing precision requirement can be reduced. 4. and hydraulic transmission than its action and reaction are fast, this is one of the advantages of pneumatic outstanding. 5. air medium clean, also wont metamorphic pipeline, not easy jam. but also have it the shortage of place: 1. because the air compressibility, the pneumatic working stability of poor, therefore cause actuators movement speed and accuracy as not easy to control. 2. use low air pressure because, output force cant be too big, in order to increase output force, will make the whole pneumatic system structure size increase.with pneumatic drive and other energy is driven by the following advantages:air inexhaustible, and after with vented into the air, do not need to recycle and the processing. dont pollute the environment. accidental or a small amount of leakage from serious influence on production.air sticky is very small, in pipeline pressure loss was small, facilitate transmitted over a long distance.compressed air pressure is low, so the pneumatic components material and manufacturing precision requirement can be reduced. generally speaking, reciprocating motion thrust in 1 2 tons of the following adopt pneumatic economy is better.and hydraulic transmission than its action and reaction are fast, this is one of the advantages of pneumatic outstanding.air medium clean, also wont metamorphic pipeline, not easy jam.it can be safely used in inflammable, explosive and dust great occasion, this is one of the pneumatic prominent advantages.second，the composition of the manipulatorthe form of manipulator is various, some relatively simple, some is relatively complex, but the basic form of is the same, generally, the executing agency, transmission system, control system and auxiliary device component.1. the enforcement agenciesmanipulator of actuators, by hand, wrist, arm, the prop composition. the hand is grab institutions, used to clamping and loosen the workpiece, and people are similar to the fingers, to complete the hands of similar action. wrist is connected with the finger arm components, can go up and down, and turn around. simple manipulator can do not have the wrist. pillar used to support the arm, can also according to need to make the move.2. transmission systemactuator action by the transmission system to to realize. commonly used manipulator transmission system mechanical transmission, points of hydraulic drive, pneumatic transmission and power transmission of several forms.3. the control systemrobot control system is the main purpose of control manipulator according to certain procedures, direction, position, speed movement, the simple manipulator general do not set up the special control system, only the stroke switch, relay, the control valve and the circuit of transmission system control can be realized, make the enforcement agencies as required action, action complex manipulator is by using the programmable controller, microcomputer control.third,one of the manipulator, classification and characteristicsgeneral manipulator is divided into three categories: the first kind is do not need artificial operation of the general manipulator. it is a kind of independent not attached to a host of the device. it may, according to the requirements of the task programming, to complete the operation of the provisions. its characteristic is to have general machinery performance besides, still have the general machinery, memory intelligence three yuan machinery. the second type is need artificial do, called caozuoji. it originated in the atomic, military industry, first through the caozuoji to accomplish a specific assignments, and then to use radio signal caozuoji to explore the moon, etc. the caozuoji forging industry also belong to this category. the third kind is to use professional manipulator, mainly attached to the automatic machine or automatic line, to solve the machine tool and workpiece up-down material transfer. this manipulator in foreign called mechanical hand, it is to host the service, the host drive; except a few beyond, working procedures generally is fixed, so is special.main features:(1) manipulator (up-down material manipulator, assembly robots, carrying manipulator, and stacking robots, power manipulator, vacuum handling machine, vacuum crane, energy sling, pneumatic balance machine etc)(2) cantilever crane (cantilever crane, electric chain hoist crane, pneumatic balance to hang and so on)(3) guide rail type handling system (suspension rail, light rail, single-girder crane, double beam crane)(4) the application of industrial robotsmanipulator is in mechanization. automatic production process developed a kind of new type of device. in recent years, with electronic technology, especially the wide application of electronic computers robot development and production in the field of high technology has become a rapidly develop a new technology, it promotes the development of more manipulator, making the manipulator to better achieve and mechanization and automation organic union.although at present the manipulator hand than as flexible, but it has constant repetition of work and labor, dont know fatigue, not afraid, snatch the power of heavy risk than big hands and other characteristics, therefore, manipulator has been many departments of attention and was to get more and more extensive application, for example:(1) machine tools machining of loading and unloading, especially in the automatic lathe, combination machine tools are normal use.(2) in the assembly work is used widely, in the electronics industry, it can be used to assembly of printed circuit board, in mechanical industry, it can be used to assemble parts(3) can be in labor conditions poor, repetitive easy fatigue working environment, in order to replace human labor.(4) can be in dangerous situations, such as military article of loading and unloading, and dangerous goods and hazardous substances handling, etc.(5) the universe, and the development of the sea.(6) military engineering and biomedical research and testing.power manipulator: also called the balance, the balance suspending, energy sling, manual shift in machine, and so on, it is a kind of zero gravity bearing system of manual, a kind of new and used for material handling shenglihua operation of the power equipment, belongs to a kind of non-standard design series of products. according to customer application needs, bespoke case creation.a simulation manually automation machinery, it can be according to fixed program grab. transporting or go to complete some specific operating tools. applications can replace people engaged in drab manipulator, repeated or heavy manual work, realize the mechanization of manufacturing and automation, instead of people in harmful environment of manual operation, improve working conditions, and ensure that the personal safety. the 1940 s, the united states in the atomic energy experiments, first using manipulator handling radioactive materials, people in a safe room manipulate manipulator to operate and experiment. 50 s, manipulator to industrial production gradually extending department, used in high temperature, serious pollution place take a problem and loading and unloading material, also as the auxiliary devices in machine tool automatic machine, automatic production line and processing center in application, complete up-down material or from library take put the knife cutting tools and according to fixed program change tools operation. manipulator hand institutions and mainly by adsorption type etc. sports organizations are usually made of hydraulic, pneumatic and electric device drivers. robots can independently, spin and realize the expansion and movement, generally have 2 3 degrees of freedom. manipulator is widely used in mechanical manufacturing, metallurgy, light industry and atomic energy and other departments. can imitate the arms of the manpower and some action function, according to fixed program to grab, transporting or operating tool for automatic operation of the device. it can replace the hard labor in order to realize people the mechanization of manufacturing and automation, can in harmful environment operation to protect personal safety, and widely used in mechanical manufacturing, metallurgy, electronics, light industry and atomic energy and other departments. robots are used for machine tools or other machines additional device, such as in the automatic machine or automatic production line loading and unloading and transfer on the processing center in replaced in the tools, generally no independent control device. some operations to direct manipulation by device, as for atomic energy department operation dangerous goods masterslave gunner is often called the manipulator.manipulator by hand and sports organizations main component. the hand is used to catch the workpiece (tools) components, according to be grasped by the objects shape, size, quality, materials and operational requirements and have a variety of structure forms, such as the gripping type, the type and adsorption type , etc. movement mechanism, make hand finish all kinds of rotation (swing), mobile or complex movement to achieve the specified action, change the position of the object be grasped by the pose and.in automatic manipulator is used in the production process of a kind of has crawled and mobile workpiece function of automatic device, it is in the mechanized, automatic production, developed a kind of new type of device. in recent years, with electronic technology, especially the wide application of electronic computers robot development and production in the field of high technology has become a rapidly develop a new technology, it promotes the development of more manipulator, making the manipulator to better achieve and mechanization and automation organic union. robots can replace human complete risk, to do a job, ease human labor intensity and improve labor productivity. manipulator has been applied more and more extensive, in mechanical industry it can be used for spare parts assembly, processing the transportation, loading and unloading, especially in automation cnc machines, combination machine tools on more general use. at present, the manipulator has already developed into flexible manufacturing system fms and flexible manufacturing unit in the fmc an important component. the machine tool equipment and manipulator compose a flexible manufacturing system or flexible manufacturing unit, it was adapted to. small batch production, can save a huge workpiece feeding, compact structure, and strong adaptability. when the workpiece is altered, flexible production system is easy to change, be helpful for enterprise continuously updated the varieties suitable for road, improve the quality of products. better adapt to the requirements of market competition. at present in our country and the industrial robot technology and its application in level at home and abroad and than there is a certain distance, the application of the scale and low level of industrialization, research and development of the manipulator directly affected our country automation production level increased, from the economy. technology on consideration is very necessary. therefore, the study design for manipulator is very significant. 机械手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人各自的有点，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、输送或操作纤焊、喷枪、扳手等工具进行加工、装配等作业自化，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、搬运或操作的自动化机械装置。在现实生活中，你是否会发现这样一个问题。在机械工厂里，加工零件装卸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），因此对气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，不需要回收和处理。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，这是气动突出的优点之一。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，这是气动的突出优点之一。二、 机械手的组成机