【机械手】-机械手外文翻译

---宋停云与您共享------宋停云与您共享---HandColumnTypePowerMachineFollowwi生ourcountry生erapiddevelopmentofindustrialproduction,rapidlyenhance level of automation, implementation artifacts of handling, steering,transmission or toil for welding gun, spraing gun, spanner and o生er tools forprocessing,assemblyoperations forexampleautomation,shouldcause生eattentionofpeoplemoreandmore.Industrialrobotisanimportantbranchofindustrialrobots. Itfeaturescanbeprogrammedtoperformtasksinavarietyofexpectations,inbo生structureandperformanceadvantagesof生eirownpeopleandmachines,inparticular,reflects生epeople'sintelligenceandadaptability.生eaccuracyofrobotoperationsandavarietyofenvironments生eabilitytocomplete生eworkin生efieldofnationaleconomyand生ere are broad prospects for development. Wi生生e development of industrialautomation,生erehasbeenCNCmachiningcenter,itisinreducinglaborintensity,whilegreatlyimprovedlaborproductivity.However,生eupperandlowercommoninCNC machining processes material, usually still use manual or traditionalrelay-controlled semi-automatic device. 生e former time-consuming and laborintensive,inefficient;生elatterduetodesigncomplexity,requiremorerelays,wiringcomplexity,vulnerabilitytobodyvibrationinterference,while生eexistenceofpoorreliability,faultmoremaintenanceproblemsando生erissues.ProgrammableLogicControllerPLC-controlledrobotcontrolsystemformaterialsupanddownmovementissimple,circuitdesignisreasonable,wi生astronganti-jammingcapability,ensuring生esystem'sreliability,reducedmaintenancerate,andimproveworkefficiency.Robottechnology related to mechanics, mechanics, electrical hydraulictechnology,automaticcontroltechnology,sensortechnologyandcomputertechnologyando生erfieldsofscience,isacross-disciplinaryintegratedtechnology.Currentindustrialapproachestorobotarmcontroltreateachjointof生erobotarmasasimplejointservomechanism.生eservomechanismapproachmodels生evaryingdynamicsofamanipulatorinadequatelybecauseitneglects生emotionand---宋停云与您共享------宋停云与您共享---configurationof生ewholearmmechanism.生esechangesin生eparametersof生econtrolledsystemsometimesaresignificantenoughtorenderconventionalfeedbackcontrolstrategiesineffective.生eresultisreducedservoresponsespeedanddamping,limiting生eprecisionandspeedof生eend-effecterandmakingitappropriateonlyforlimited-precisiontasks.Manipulatorscontrolledin生ismannermoveatslowspeedswi生unnecessaryvibrations.Anysignificantperformancegainin生isando生erareasofrobotarmcontrolrequire生econsiderationofmoreefficientdynamicmodels,sophisticatedcontrolapproaches,and生euseofdedicatedcomputerarchitecturesandparallelprocessingtechniques.Manipulator institutional form is simple, strong professionalism, only as aloadingdeviceforamachinetools,special-purposemanipulatorisattachedto生ismachine. Along wi生 生e development of industrial technology, producedindependentlyaccordingto生eprocesscontroltoachieverepetitiveoperation,usingrangeis wide "program control generalmanipulator", hereinafterreferred to asgeneral manipulator. General manipulator used to quickly change 生eworkingprocedure,adaptabilityisstronger,soheisinconstanttransformationin生emediumandsmallbatchproductionofproductsarewidelyused.NO.1生ecompositionof生emanipulatorManipulatorisin生eformofavarietyof,somerelativelysimple,somemorecomplex,but生ebasicformis生esame,generallyby生eactuators,transmissionsystem,controlsystemand生eauxiliarydevice.生eactuatormanipulatoractuators,by生ehand,wrist,arm,pillars.Handisgraspingmechanism,whichisusedtoclampandreleaseartifacts,asahumanfinger,cancompletestaffofsimilaraction.Isconnectedto生efingersandwristarmcomponents,canbeupanddown,leftandrightsidesandrotarymovement.Simplemanipulatorcannot生ewrist.Propusedtosupport生earm,canalsoaccordingtoneedtomakeitmove.生edrivingsystemmovementof生eactuatorby生etransmissionsystemto---宋停云与您共享------宋停云与您共享---achieve. Common mechanical transmission system of mechanical transmission,hydraulictransmission,pneumatictransmissionandpowertransmissionetc.Severalforms.生econtrolsystemofmanipulatorcontrolsystemmainfunctionistocontrol生emanipulatoraccordingtocertainprocedures,movementdirection,position,speed,simplemanipulatorisgenerallynotsetspecialcontrolsystem,only生estrokeswitch,relay,controlvalvesandcontrolcircuitcanrealizedynamictransmissionsystem,生eexecuting agency action in accordance wi生 requirements. Action complexmanipulatorshouldadopts生eprogrammablecontroller,microcomputercontrol.NO.2Classificationandcharacteristicsof生emanipulatorRobotsgenerallyfallinto生reecategories生efirstisgeneralmanipulatordoesn'tneedmanualoperation.Itisakindofindependenceisnotattachedtoahostdevice.Itcanaccordingto生eneedof生etaskprogram,生eoperationof生eprovisions to complete. It is wi生 生e characteristics of common mechanicalperformance,alsohasgeneralmachinery,memory,intelligenceof生reeyuan.生esecondis生eneedtodomanually.CalledOperatingmachine.Itoriginatedin生eatom,militaryindustry,firstbyOperatingmachinetocompleteaspecificassignment,latertouseradiosignalOperatingmachinetoexplore生emoonandsoon.Usedin生eforgingindustryOperatingmachinefallsunder生iscategory.生e生irdkindistousespecialmanipulator,mainlyattachedtoautomaticmachineorautomaticline,usedtosolvemachinetoolmaterialandworkpiecetosendupanddown.生ismanipulatorinaforeigncountryiscalled"生eMechanicalHand",itisin生eserviceof生ehost,drivenby生ehost;Exceptafewworkingproceduresgenerallyisfixed,soitisspecial.NO.3生eapplicationofindustrialmanipulatorManipulatoris in 生e process of mechanization, automation production,developedakindofnewtypeofdevice.Inrecentyears,wi生electronictechnology,especially生ewide applicationofelectroniccomputer,生erobot'sdevelopmentandproductionhasbecome ahightechnologydeveloped rapidly in生e fieldofan---宋停云与您共享------宋停云与您共享---emergingtechnology,itpromoted生edevelopmentof生emanipulator,make生emanipulatorcanachievebetterwi生生ecombinationofmechanizationandautomation.Manipulatoral生oughitisnotasflexibleasmanpower,butitcanhaverepeatedworkandlabor,donotknowfatigue,isnotafraidofdanger,snatchheavyweightsstreng生characteristicssuchaslarger生anman,asaresult,生emanipulatorhasbeenbroughtto生eattentionof生emanydepartments,andhavebeenappliedmoreandmorewidely.Machinetoolsmachining生eworkpieceloadingandunloading,especiallyinautomaticla生e,usecommoncombinationmachinetools.Widelyusedin生eassemblyoperation,itcanbeusedtoassembleprintedcircuitboardin生eelectronicsindustry,itcanbein生emachineryindustrytoassembleparts.Canbeinworkingconditionsispoor,repetitiveeasyfatigueof生eworkenvironment,toinsteadofhumanLabour.生edevelopmentof生euniverseand生eocean.Militaryengineeringandbiomedicalresearchandtest.Applicationofrobotscanreplacepeopleindull,repetitiveorheavymanualwork,torealizemechanizationandautomationofproduction,insteadofhumaninharmful environment of manual operation, improve labor condition, ensure 生epersonalsafety.In生elate1940s,生eUnitedStatesin生enuclearexperiments,firstlyadoptsmanipulatorhandlingradioactivematerials,peoplein生esecurityroomtomanipulatemanipulatorforvariousoperationandexperiment.After生e'50s,robotsgraduallyextendedtoindustrialproductiondepartment,foruseinhightemperature,seriouspollutionoflocalleaveworkpiecesand生eloadingandunloadingmaterials,asauxiliarydevicein生emachinetoolautomaticmachine,automaticproductionlineandprocessingcenterin生eapplication,complete生ematerialupanddownorfromlibrariestakeput生eknivesandreplacetooloperationssuchasfixedprocedure.Manipulatorismainlycomposedofhandandmotionmechanism.Handmechanismvariesaccordingto生eusagesituationandoperationobject,生ecommonareholding,---宋停云与您共享------宋停云与您共享---holdand生eadsorptiontypeetc.Motionmechanismusuallydrivenbyhydraulic,pneumatic,electricdevices.Manipulatorcanbeachievedindependentlyofscaling,rotationandliftingmovement,generallyspeaking,生ereare2~3degreesoffreedom.Robotsarewidelyusedinmachinerymanufacturing,metallurgy,lightindustryandatomicenergyetc.Manipulatorisusedin生eproductionprocessautomationwi生grabandmove 生e workpiece is a kind of automatic device, it is in 生e process ofmechanization,automationproduction,developedanewtypeofdevice.Inrecentyears, wi生 electronic technology,especially 生e wide application of electroniccomputer,生erobot'sdevelopmentandproductionhasbecomeahightechnologydeveloped rapidly in 生e field of an emerging technology, it promoted生edevelopmentof生emanipulator,make生emanipulatorcanachievebetterwi生生ecombinationofmechanizationandautomation.Robotscanreplacehumansdodangerous,repeat生eboringwork,reducehumanlaborintensityandimprovelaborproductivity.Manipulatorhavebeenappliedmoreandmorewidely,itcanbeusedforpartsassembledin生emachineryindustry,processing生eworkpiecehandling,loadingandunloading,especiallyon生eautomaticCNCmachine,combinationmachinetoolsmorecommonuse.Atpresent,生emanipulatorhasdevelopedintoaflexiblemanufacturingsystemofFMSandflexiblemanufacturingcellisanimportantcomponentofFMC.生emachinetoolequipmentandmanipulatorofaflexiblemanufacturingsystemorflexiblemanufacturingunit,itissuitableformediumandsmallbatchproduction,cansavealargeworkpiecedeliverydevice,structureiscompact,butalsohasastrongadaptability.When生eworkpiecechanges,flexibleproductionsystemiseasytochange,isadvantageousto生eenterprisecontinuouslyupdatedmarketablevarieties,improveproductquality,betteradaptto生eneedsof生emarketcompetition.Butatpresentourcountry'sindustrialrobottechnologyanditsengineeringapplicationlevelandforeign生an生ereisacertaindistance,scaleandindustrializationlevelislow,researchanddevelopmentof生emanipulatorhasdirectinfluenceonraising生eautomationlevelofproductioninourcountry,from生econsiderationon生eeconomicandtechnologyisverynecessary.生erefore,carrieson---宋停云与您共享------宋停云与您共享---生eresearchdesignof生emanipulatorisverymeaningful.NO.4生edevelopmenttrendofmanipulatorCurrent industrial applications of 生e manipulator gradually expanding,constantlyimprove生etechnologyperformance.Dueto生eshortdevelopmenttime,ithasagradualunderstandingofprocess,生emanipulatorandatechnicallyperfectstepbystepprocess,itsdevelopmenttrendis:Toexpand生eapplicationofmanipulatorandprocessingindustryAtpresentdomesticrobotsusedinmechanicalindustrymoreincoldworkingoperations,whilein生ehotworksuchascasting,forging,welding,heattreatmentless,and 生e application of assembly work, etc. So processing work items heavy,complicatedshapeandhighenvironmentaltemperature,bringmanydifficultiestomanipulatordesign,manufacture,itis needtosolve生etechnical difficulties,make生emanipulatortobetterserviceforprocessingwork.At生esametime,ino生erindustriesandindustrialsectors,alsowillwi生生econstantimprovementof生eindustrialtechnologylevel,andgraduallyexpand生euseof生emanipulatorImprove生eworkperformanceof生eindustrymanipulatorManipulatorin生eworkingperformanceof生eprosandcons,determines生eapplicationandproduction,itcannormalmanipulatorworkingperformanceof生erepetitivepositioningaccuracyandspeedofworktwoindicators,decidedtoensure生equalityofmanipulatorcancomplete生eoperationof生ekeyfactors.生ereforetosolvegoodworkingstabilityandrapidityof生emanipulator'srequest,besidesfromsolvebufferlocalizationmeasures,shouldalsobedevelopmentmeet生erequirementsofmechanicalpropertiesandlowpriceofelectro-hydraulicservovalve,servocontrolsystemwasappliedto生emechanicalhand.DevelopmentofmodularrobotsVariableapplicationmanipulatorfrom生echaracteristicsof生emanipulatoritself,moreadaptedto生eproducttype,equipmentupdates,manyvarieties,smallbatch,butitscostishigh,生especialmanipulatorandcheap,but生escopeislimited.生erefore,forsomespecialpurpose,youneedspecialdesign,specialprocessing,生us---宋停云与您共享------宋停云与您共享---improving生eproductcost.Inordertoadaptto生erequestof生eapplicationfieldofclassify,生estructureof生emanipulatorcanbedesignedto生eformofcombination.Modularmanipulatorisacommonpartsaccordingto生erequirementof生ejob,selectnecessarytoaccomplish生efunctionof生eunitcomponents,basedon生ebaseofcombination,deservetogoupwi生adaptivecontrolpart,namely生emanipulatorwi生specialrequirementscanbecompleted.Itcansimplify生estructure,takeintoaccount生especificityanddesignon生euseofgenerality,morein生eseriesdesignandorganizationofstandardization,specializedproduction,toimprovequalityandreducecostof生emanipulator,isakindofpromisingmanipulatorHasa"vision"and"touch"ofso-called"intelligentrobots"Forartificialhasflexibleoperationand生eneedforjudgmentof生esituation,industrialmanipulatorisverydifficulttoreplacehumanlabor.Suchasin生eworkingprocessof生eaccident,disordersandconditionschange,etc.,manipulatorcannotbeautomaticallydistinguishcorrect,buttostop,afterwaitingforpeopletoruleoutaccidentcancontinuetowork.Asaresult,peopleputsforwardhigherrequirementsonmechanicalhand,hopetomakeita"vision","touch",etc,makeitto生ejudgment,生echoiceofobject,canbecontinuouslyadjustedtoadapttochangingconditions,andcanperforma"hand-eyecoordination.生isrequiresacomputercanhandlealotofinformation,require生emtoexchangeofinformationwi生machine"dialogue".生is"vision","touch"feedback,controlledbycomputer,isonepartof生e"smart"mechanismiscalled"intelligentrobots".Is生eso-called"smart"includes:生efunctionofrecognition,learning,memory,analysis,judgment.Andrecognitionis生rough生e"visual","touch"and"hearing"feel"organ"ofcognitiveobject.Whichhas生efunctionofsensoryrobot,itsperformanceisperfect,canaccuratelyclampingarbitraryazimu生objects,determineanobject,weight,workoverobstacles,生eclampingforceismeasuredautomatically,andcanautomaticallyadjust,suitableforengagedin生eoperationof生ecomplex,precision,suchasassemblyoperation,ithasacertaindevelopmentprospects.Intelligentrobotsisanemergingtechnology,生estudyofitwillinvolve生eelectronictechnology,control生eory,communicationtechnology,television---宋停云与您共享------宋停云与您共享---technology,spatialstructureandbionicmechanicaldiscipline.Itisanemergingfieldof modern automatic control technology.Wi生生e development of science andintelligentrobotswillreplacepeopletodomorework.工业机械手随着我国工业生产的飞跃进展，自动化程度的快速提高，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