外文翻译机械手

1、精品文档Hand Column Type Power MachineFollow with our country the rapid development of industrial production, rapidly enhance level of automation, implementation artifacts of handling, steering, transmission or toil for welding gun, spraing gun, spanner and other tools for processing, assembly operation

2、s for example automation, should cause the attention of people more and more.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 people and machines, in pa

3、rticular, 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 automation, there has

4、been CNCmachining center, it is in reducing labor intensity, while greatly improved labor productivity. However, the upper and lower commonin CNCmachining processes material, usually still use manual or traditional relay-controlled semi-automatic device. The former time-consuming and labor intensive

5、, 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 robot control system for ma

6、terials 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 technology, automatic cont

7、rol technology, sensor technology and computer technology and other fields of science, is a cross-disciplinary integrated technology.Current industrial approaches to robot arm control treat each joint of the robot arm as a simple joint servomechanism. The servomechanism approach models the varying d

8、ynamics of a manipulator inadequately because it neglects the motion and configuration of the whole arm mechanism. These changes in the parameters of the controlled system sometimes are significant enough to render conventional feedback control strategies ineffective. The result is reduced servo res

9、ponse speed and damping, limiting the precision and speed of the end-effecter and making it appropriate only for limited-precision tasks. Manipulators controlled in this manner move at slow speeds with unnecessary vibrations. Any significant performance gain in this and other areas of robot arm cont

10、rol require the consideration of more efficient dynamic models, sophisticated control approaches, and the use of dedicated computer architectures and parallel processing techniques.Manipulator institutional form is simple, strong professionalism, only as a loading device for a machine tools, special

11、-purpose manipulator is attached to this machine. Along with the development of industrial technology, produced independently according to the process control to achieve repetitive operation, using range iswide "program control general manipulator", hereinafter referred to as general manip

12、ulator. General manipulator used to quickly change the working procedure, adaptability is stronger, so he is in constant transformation in the medium and small batch production of products are widely used.NO.1 The composition of the manipulatorManipulator is in the form of a variety of, some relativ

13、ely simple, some more complex, but the basic form is the same, generally by the actuators, transmission system, control system and the auxiliary device.The actuator manipulator actuators, by the hand, wrist, arm, pillars. Hand is grasping mechanism, which is used to clamp and release artifacts, as a

14、 human finger, can complete staff of similar action. Is connected to the fingers and wrist arm components, can be up and down, left and right sides and rotary movement. Simple manipulator can not the wrist. Prop used to support the arm, can also according to need to make it move.The driving system m

15、ovement of the actuator by the transmission system to achieve. Common mechanical transmission system of mechanical transmission, hydraulic transmission, pneumatic transmission and power transmission etc. Several forms.The control system of manipulator control system main function is to control the m

16、anipulator according to certain procedures, movement direction, position, speed, simple manipulator is generally not set special control system, only the stroke switch, relay, control valves and control circuit can realize dynamic transmission system, the executing agency action in accordance with r

17、equirements. Action complex manipulator should adopts the programmable controller, microcomputer control.NO.2 Classification and characteristics of the manipulatorRobots generally fall into three categories the first is general manipulator doesn't need manual operation. It is a kind of independe

18、nce is not attached to a host device. It can according to the need of the task program, the operation of the provisions to complete. It is with the characteristics of common mechanical performance, also has general machinery, memory, intelligence of three yuan. The second is the need to do manually.

19、 Called Operating machine. It originated in the atom, military industry, first by Operating machine to complete a specific assignment, later to use radio signal Operating machine to explore the moon and so on. Used in the forging industry Operating machine falls under this category. The third kind i

20、s to use special manipulator, mainly attached to automatic machine or automatic line, used to solve machine tool material and workpiece to send up and down. This manipulator in a foreign country iscalled "the Mechanical Hand", itisin the service of the host, driven by the host; Except a fe

21、w working procedures generally is fixed, so it is special.NO.3 The application of industrial manipulatorManipulator is in the process of mechanization, automation production, developed a kind of new type of device. In recent years, with electronic technology, especially the wide application of elect

22、ronic computer, the robot's development and production has become a high technology developed rapidly in the field of an emerging technology, it promoted the development of the manipulator, make the manipulator can achieve better with the combination of mechanization and automation.Manipulator a

23、lthough it is not as flexible as manpower, but it can have repeated work and labor, do not know fatigue, is not afraid of danger, snatch heavy weights strength characteristics such as larger than man, as a result, the manipulator has been brought to the attention of the many departments, and have be

24、en applied more and more widely.(1) Machine tools machining the workpiece loading and unloading, especially in automatic lathe, use common combination machine tools.(2) Widely used in the assembly operation, it can be used to assemble printed circuit board in the electronics industry, it can be in t

25、he machinery industry to assemble parts.(3) Can be in working conditions is poor, repetitive easy fatigue of the work environment, to instead of human Labour.(4) The development of the universe and the ocean.(5) Military engineering and biomedical research and test.Application of robots can replace

26、people in dull, repetitive or heavy manual work, to realize mechanization and automation of production, instead of human in harmful environment of manual operation, improve labor condition, ensure the personal safety. In the late 1940 s, the United States in the nuclear experiments, firstly adopts m

27、anipulator handling radioactive materials, people in the security room to manipulate manipulator for various operation and experiment. After the '50 s, robots gradually extended to industrial production department, for use in high temperature, serious pollution of local leave work pieces and the

28、 loading and unloading materials, as auxiliary device in the machine tool automatic machine, automatic production line and processing center in the application, complete the material up and down or from libraries take put the knives and replace tool operations such as fixed procedure. Manipulator is

29、 mainly composed of hand and motion mechanism. Hand mechanism varies according to the usage situation and operation object, the commonare holding, hold and the adsorption type etc. Motion mechanism usually driven by hydraulic, pneumatic, electric devices. Manipulator can be achieved independently of

30、 scaling, rotation and lifting movement, generally speaking, there are 2 3 degrees of freedom. Robots are widely used in machinery manufacturing, metallurgy, light industry and atomic energy etc.Manipulator is used in the production process automation with grab and move the workpiece is a kind of au

31、tomatic device, it is in the process of mechanization, automation production, developed a new type of device. In recent years, with electronic technology, especially the wide application of electronic computer, the robot's development and production has become a high technology developed rapidly

32、 in the field of an emerging technology, it promoted the development of the manipulator, make the manipulator can achieve better with the combination of mechanization and automation. Robots can replace humans do dangerous, repeat the boring work, reduce human labor intensity and improve labor produc

33、tivity. Manipulator have been applied more and more widely, it can be used for parts assembled in the machinery industry, processing the workpiece handling, loading and unloading, especially on the automatic CNCmachine, combination machine tools more commonuse. At present, the manipulator has develo

34、ped into a flexible manufacturing system of FMS and flexible manufacturing cell is an important component of FMC. The machine tool equipment and manipulator of a flexible manufacturing system or flexible manufacturing unit, it is suitable for medium and small batch production, can save a large workp

35、iece delivery device, structure is compact, but also has a strong adaptability. When the workpiece changes, flexible production system is easy to change, is advantageous to the enterprise continuously updated marketable varieties, improve product quality, better adapt to the needs of the market comp

36、etition. But at present our country's industrial robot technology and its engineering application level and foreign than there is a certain distance, scale and industrialization level is low, research and development of the manipulator has direct influence on raising the automation level of prod

37、uction in our country, from the consideration on the economic and technology is very necessary. Therefore, carries on the research design of the manipulator is very meaningful.NO.4 The development trend of manipulatorCurrent industrial applications of the manipulator gradually expanding, constantly

38、improve the technology performance. Due to the short development time, it has a gradual understanding of process, the manipulator and a technically perfect step by step process, its development trend is:1. To expand the application of manipulator and processing industryAt present domestic robots use

39、d in mechanical industry more in cold working operations, while in the hot work such as casting, forging, welding, heat treatment less, and the application of assembly work, etc. So processing work items heavy, complicated shape and high environmental temperature, bring many difficulties to manipula

40、tor design, manufacture, it is need to solve the technical difficulties, make the manipulator to better service for processing work. At the same time, in other industries and industrial sectors, also will with the constant improvement of the industrial technology level, and gradually expand the use

41、of the manipulator 2.Improve the work performance of the industry manipulatorManipulator in the working performance of the pros and cons, determines the application and production, it can normal manipulator working performance of the repetitive positioning accuracy and speed of work two indicators,

42、decided to ensure the quality of manipulator can complete the operation of the key factors. Therefore to solve good working stability and rapidity of the manipulator's request, besides from solve buffer localization measures, should also be development meet the requirements of mechanical propert

43、ies and low price of electro-hydraulic servo valve, servo control system was applied to the mechanical hand.3.Development of modular robotsVariable application manipulator from the characteristics of the manipulatoritself, more adapted to the product type, equipment updates, many varieties,smallbatc

44、h, but its cost is high, the special manipulator and cheap, but the scope is limited. Therefore, for some special purpose, you need special design, special processing, thus improving the product cost. In order to adapt to the request ofthe application field of classify, the structure of the manipula

45、tor can be designed to the form of combination. Modular manipulator is a common parts according to the requirement of the job, select necessary to accomplish the function of the unit components, based on the base of combination, deserve to go up with adaptive control part, namely the manipulator wit

46、h special requirements can be completed. It can simplify the structure,take into account thespecificity and designon the use ofgenerality, more in the series design and organization of standardization, specialized production, to improve quality and reduce cost of the manipulator, is a kind of promis

47、ing manipulator4. Has a "vision" and "touch" of so-called "intelligent robots"For artificial has flexible operation and the need for judgment of the situation, industrial manipulator is very difficult to replace human labor. Such as in the working process of the acciden

48、t, disorders and conditions change, etc., manipulator cannot be automatically distinguish correct, but to stop, after waiting for people to rule out accident can continue to work. As a result, people puts forward higher requirements on mechanical hand, hope to make it a "vision", "tou

49、ch", etc, make it to the judgment, the choice of object, can be continuously adjusted to adapt to changing conditions, and can perform a "hand - eye coordination. This requires a computer can handle a lot of information, require them to exchange of information with machine "dialogue&q

50、uot;.This "vision", "touch" feedback, controlled by computer, is one part of the"smart" mechanism is called "intelligent robots". Is the so-called "smart" includes: the function of recognition, learning, memory, analysis, judgment. And recognition is

51、 through the "visual", "touch" and "hearing" feel "organ" of cognitive object.Which has the function of sensory robot, its performance is perfect, can accurately clamping arbitrary azimuth objects, determine an object, weight, work over obstacles, the clamping

52、 force is measured automatically, and can automatically adjust, suitable for engaged in the operation of the complex, precision, such as assembly operation, it has a certain development prospects.Intelligent robots is an emerging technology, the study of it will involve the electronic technology, co

53、ntrol theory, communication technology, television technology, spatial structure and bionic mechanical discipline. It is an emerging field of modern automatic control technology. With the development of science and intelligent robots will replace people to do more work.工业机械手 随着我国工业生产的飞跃发展， 自动化程度的迅速提

54、高， 实现工件的装卸、 转向、 输送或是 操持焊枪、喷枪、扳手等工具进行加工、装配等作业的自动化，应越来越引起人们的重视。 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

55、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。 目前的工业机械臂控制将每一个机械臂的联合看做一个简单的联合伺服。 伺服方法不能从分 地模仿不同的动力学机械手， 因为它忽略了机械手整体的运动和配置。 这些控制系统的参数 的变化有时是足够重

56、要， 以至于使常规的反馈控制方法失效。 其结果是减少了伺服相应的速 度和阻尼， 限制了京都和最终效应的速度， 使系统仅适用于有限精度的工作。 机械手以这种 方式控制速度降低而没有不必要的震动。 任何在这一领域和其它领域的机械臂性能增益要求 更有效率的动态模型、精密的控制方法、专门的计算机架构和并行处理技术。机械手的结构形式开始比较简单，专业性较强，仅为某台机床的上下料装置，是附属于该 机床的专用机械手。 随着工业技术的发展， 制成了能够独立的按程序控制实现重复操作， 使 用范围比较广的“程序控制通用机械手” ，简称通用机械手。用于通用机械手很快的改变工 作程序，适应性较强，所以他在不断变换生产

57、品种的中小批量生产中获得广泛应用。一、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

58、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。二、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

59、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。三、工业机械手的应用机械手是在机械化、 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

60、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。(1) 机床加工工件的装卸，特别是在自动化车床、组合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) 宇宙及海洋的开发。(5) 军事工程及生物医学方面的研究和试验。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