外文翻譯機(jī)械手(共8頁(yè))

1、精選優(yōu)質(zhì)文檔-傾情為你奉上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

2、operations 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 machi

3、nes, 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 automation,

4、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-consuming and la

5、bor 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 robot control

6、 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 technology,

7、automatic control 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 model

8、s the varying dynamics 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 re

9、duced servo response 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

10、 robot arm control 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

11、 tools, special-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 is wide "program control general manipulator", hereinafter referred to

12、as general manipulator. 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 manipulator Manipulator is in the form of a variety

13、 of, some relatively 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 relea

14、se artifacts, as a 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. T

15、he driving system movement 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

16、 is to control the manipulator 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

17、in accordance with requirements. Action complex manipulator should adopts the programmable controller, microcomputer control.NO.2 Classification and characteristics of the manipulator Robots generally fall into three categories the first is general manipulator doesn't need manual operation. It i

18、s a kind of independence 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

19、 need to do manually. 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 categ

20、ory. The third kind is 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 is called "the Mechanical Hand", it is in the service of the host, driven

21、by the host; Except a few working procedures generally is fixed, so it is special. NO.3 The application of industrial manipulator Manipulator is in the process of mechanization, automation production, developed a kind of new type of device. In recent years, with electronic technology, especially the

22、 wide application of electronic 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 an

23、d automation. Manipulator although 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 ma

24、ny departments, and have been 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 electroni

25、cs industry, it can be in the 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. Applic

26、ation of robots can replace 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 e

27、xperiments, firstly adopts manipulator 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 loc

28、al leave work pieces and the 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 fix

29、ed procedure. Manipulator is mainly composed of hand and motion mechanism. Hand mechanism varies according to the usage situation and operation object, the common are holding, hold and the adsorption type etc. Motion mechanism usually driven by hydraulic, pneumatic, electric devices. Manipulator can

30、 be achieved independently of 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

31、 the workpiece is a kind of automatic 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 hig

32、h 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. Robots can replace humans do dangerous, repeat the boring work, reduce human labor inte

33、nsity and improve labor productivity. 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 CNC machine, combination machine tools more common use. At pre

34、sent, the manipulator has developed 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 pr

35、oduction, can save a large workpiece 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

36、 to the needs of the market competition. 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 rais

37、ing the automation level of production 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 manipulator Current industrial applications of the manipulator

38、 gradually expanding, constantly 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 indust

39、ry At present domestic robots used 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, br

40、ing many difficulties to manipulator 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 lev

41、el, and gradually expand the use of the manipulator2.Improve the work performance of the industry manipulator Manipulator 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 a

42、nd speed of work two indicators, 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 r

43、equirements of mechanical properties and low price of electro-hydraulic servo valve, servo control system was applied to the mechanical hand.3.Development of modular robots Variable application manipulator from the characteristics of the manipulator itself, more adapted to the product type, equipmen

44、t updates, many varieties, small batch, 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 of the application field of c

45、lassify, the structure of the manipulator 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 co

46、ntrol part, namely the manipulator with special requirements can be completed. It can simplify the structure, take into account the specificity and design on the use of generality, more in the series design and organization of standardization, specialized production, to improve quality and reduce co

47、st of the manipulator, is a kind of promising 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. Su

48、ch as in the working process of the accident, 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

49、 to make it a "vision", "touch", 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 o

50、f information with machine "dialogue". 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, m

51、emory, analysis, judgment. And recognition is 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 obj

52、ect, weight, work over obstacles, the clamping 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 o

53、f it will involve the electronic technology, control 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

54、 to do more work.工業(yè)機(jī)械手隨著我國(guó)工業(yè)生產(chǎn)的飛躍發(fā)展，自動(dòng)化程度的迅速提高，實(shí)現(xiàn)工件的裝卸、轉(zhuǎn)向、輸送或是操持焊槍、噴槍、扳手等工具進(jìn)行加工、裝配等作業(yè)的自動(dòng)化，應(yīng)越來(lái)越引起人們的重視。工業(yè)機(jī)械手是工業(yè) 機(jī)器人的一個(gè)重要分支。它的特點(diǎn)是可通過(guò)編程來(lái)完成各種預(yù)期的作業(yè)任務(wù)，在構(gòu) 造和性能上兼有人和機(jī)器各自的優(yōu)點(diǎn)，尤其體現(xiàn)了人的智能和適應(yīng)性。機(jī)械手作業(yè) 的準(zhǔn)確性和各種環(huán)境中完成作業(yè)的能力，在國(guó)民經(jīng)濟(jì)各領(lǐng)域有著廣闊的發(fā)展前景。 隨著工業(yè)自動(dòng)化的發(fā)展, 出現(xiàn)了數(shù)控加工中心,它在減輕工人的勞動(dòng)強(qiáng)度的同時(shí), 大大提高了勞動(dòng)生產(chǎn)率。但數(shù)控加工中常見(jiàn)的上下料工序, 通常仍采用人工操作或 傳統(tǒng)

55、繼電器控制的半自動(dòng)化裝置。前者費(fèi)時(shí)費(fèi)工、效率低; 后者因設(shè)計(jì)復(fù)雜, 需較 多繼電器,接線繁雜, 易受車(chē)體振動(dòng)干擾,而存在可靠性差、故障多、維修困難等問(wèn) 題?？删幊绦蚩刂破?PLC 控制的上下料機(jī)械手控制系統(tǒng)動(dòng)作簡(jiǎn)便、線路設(shè)計(jì)合理、 具有較強(qiáng)的抗干擾能力, 保證了系統(tǒng)運(yùn)行的可靠性,降低了維修率, 提高了工作效 率。機(jī)械手技術(shù)涉及到力學(xué)、機(jī)械學(xué)、電氣液壓技術(shù)、自動(dòng)控制技術(shù)、傳感器技術(shù) 和計(jì)算機(jī)技術(shù)等科學(xué)領(lǐng)域，是一門(mén)跨學(xué)科綜合技術(shù)。目前的工業(yè)機(jī)械臂控制將每一個(gè)機(jī)械臂的聯(lián)合看做一個(gè)簡(jiǎn)單的聯(lián)合伺服。伺服方法不能從分地模仿不同的動(dòng)力學(xué)機(jī)械手，因?yàn)樗雎粤藱C(jī)械手整體的運(yùn)動(dòng)和配置。這些控制系統(tǒng)的參數(shù)的變化有時(shí)

56、是足夠重要，以至于使常規(guī)的反饋控制方法失效。其結(jié)果是減少了伺服相應(yīng)的速度和阻尼，限制了京都和最終效應(yīng)的速度，使系統(tǒng)僅適用于有限精度的工作。機(jī)械手以這種方式控制速度降低而沒(méi)有不必要的震動(dòng)。任何在這一領(lǐng)域和其它領(lǐng)域的機(jī)械臂性能增益要求更有效率的動(dòng)態(tài)模型、精密的控制方法、專(zhuān)門(mén)的計(jì)算機(jī)架構(gòu)和并行處理技術(shù)。 機(jī)械手的結(jié)構(gòu)形式開(kāi)始比較簡(jiǎn)單，專(zhuān)業(yè)性較強(qiáng)，僅為某臺(tái)機(jī)床的上下料裝置，是附屬于該機(jī)床的專(zhuān)用機(jī)械手。隨著工業(yè)技術(shù)的發(fā)展，制成了能夠獨(dú)立的按程序控制實(shí)現(xiàn)重復(fù)操作，使用范圍比較廣的“程序控制通用機(jī)械手”，簡(jiǎn)稱(chēng)通用機(jī)械手。用于通用機(jī)械手很快的改變工作程序，適應(yīng)性較強(qiáng)，所以他在不斷變換生產(chǎn)品種的中小批量生產(chǎn)中獲

57、得廣泛應(yīng)用。一、 機(jī)械手的組成機(jī)械手的形式是多種多樣的，有的較為簡(jiǎn)單，有的較為復(fù)雜，但基本的組成形式是相同的，一般由執(zhí)行機(jī)構(gòu)、傳動(dòng)系統(tǒng)、控制系統(tǒng)和輔助裝置組成。1. 執(zhí)行機(jī)構(gòu) 機(jī)械手的執(zhí)行機(jī)構(gòu)，由手、手腕、手臂、支柱組成。手是抓取機(jī)構(gòu)，用來(lái)夾緊和松開(kāi)工件，與人的手指相仿，能完成人手的類(lèi)似動(dòng)作。手腕是連接手指與手臂的元件，可以進(jìn)行上下、左右和回轉(zhuǎn)動(dòng)作。簡(jiǎn)單的機(jī)械手可以沒(méi)有手腕。支柱用來(lái)支撐手臂，也可以根據(jù)需要做成移動(dòng)。2. 傳動(dòng)系統(tǒng) 執(zhí)行機(jī)構(gòu)的動(dòng)作要由傳動(dòng)系統(tǒng)來(lái)實(shí)現(xiàn)。常用機(jī)械手傳動(dòng)系統(tǒng)分機(jī)械傳動(dòng)、液壓傳動(dòng)、氣壓傳動(dòng)和電力傳動(dòng)等幾種形式。3. 控制系統(tǒng) 機(jī)械手控制系統(tǒng)的主要作用是控制機(jī)械手按一定的

58、程序、方向、位置、速度進(jìn)行動(dòng)作，簡(jiǎn)單的機(jī)械手一般不設(shè)置專(zhuān)用的控制系統(tǒng)，只采用行程開(kāi)關(guān)、繼電器、控制閥及電路便可實(shí)現(xiàn)動(dòng)傳動(dòng)系統(tǒng)的控制，使執(zhí)行機(jī)構(gòu)按要求進(jìn)行動(dòng)作動(dòng)作復(fù)雜的機(jī)械手則要采用可編程控制器、微型計(jì)算機(jī)進(jìn)行控制。 二、機(jī)械手的分類(lèi)和特點(diǎn) 機(jī)械手一般分為三類(lèi)：第一類(lèi)是不需要人工操作的通用機(jī)械手。它是一種獨(dú)立的不附屬于某一主機(jī)的裝置。它可以根據(jù)任務(wù)的需要編制程序，以完成各項(xiàng)規(guī)定的操作。它的特點(diǎn)是具備普通機(jī)械的性能之外，還具備通用機(jī)械、記憶智能的三元機(jī)械。第二類(lèi)是需要人工才做的，稱(chēng)為操作機(jī)。它起源于原子、軍事工業(yè)，先是通過(guò)操作機(jī)來(lái)完成特定的作業(yè)，后來(lái)發(fā)展到用無(wú)線電訊號(hào)操作機(jī)來(lái)進(jìn)行探測(cè)月球等。工業(yè)中

59、采用的鍛造操作機(jī)也屬于這一范疇。第三類(lèi)是用專(zhuān)用機(jī)械手，主要附屬于自動(dòng)機(jī)床或自動(dòng)線上，用以解決機(jī)床上下料和工件送。這種機(jī)械手在國(guó)外稱(chēng)為“Mechanical Hand”，它是為主機(jī)服務(wù)的，由主機(jī)驅(qū)動(dòng)；除少數(shù)以外，工作程序一般是固定的，因此是專(zhuān)用的。三、工業(yè)機(jī)械手的應(yīng)用 機(jī)械手是在機(jī)械化、自動(dòng)化生產(chǎn)過(guò)程中發(fā)展起來(lái)的一種新型裝置。近年來(lái)，隨著電子技術(shù)特別是電子計(jì)算機(jī)的廣泛應(yīng)用，機(jī)器人的研制和生產(chǎn)已成為高技術(shù)領(lǐng)域內(nèi)迅速發(fā)展起來(lái)的一門(mén)新興技術(shù)，它更加促進(jìn)了機(jī)械手的發(fā)展，使得機(jī)械手能更好地實(shí)現(xiàn)與機(jī)械化和自動(dòng)化的有機(jī)結(jié)合。 機(jī)械手雖然目前還不如人手那樣靈活，但它具有能不斷重復(fù)工作和勞動(dòng)、不知疲勞、不怕危險(xiǎn)、抓舉重物的力量比人手大等特點(diǎn)，因此，機(jī)械手已受到許多部門(mén)的重視，并越來(lái)越廣泛地得到了應(yīng)用。(1) 機(jī)床加工工件的裝卸，特別是在自動(dòng)化車(chē)床、組合機(jī)床上使用較為普遍。 (2) 在裝配作業(yè)中應(yīng)用廣泛，在電子行業(yè)中它可以用來(lái)裝配印制電路板，在機(jī)械行業(yè)中它可以用來(lái)組裝零部件。 (3)可在勞動(dòng)條件差，單調(diào)重復(fù)易子疲勞的工作環(huán)境工作，以代替人的勞動(dòng)。 (4)宇宙及海洋的開(kāi)發(fā)。 (5)軍事工程及生物醫(yī)學(xué)方面的研究和試驗(yàn)。 應(yīng)用機(jī)械手可以代替人從事單調(diào)重復(fù)或繁重的體力勞動(dòng)，實(shí)現(xiàn)生產(chǎn)的機(jī)械化和自動(dòng)化，代替人在有害環(huán)境下的手工操作，改善勞動(dòng)條件，保證人身安全。20世紀(jì)40年代后期，美國(guó)在原子能實(shí)驗(yàn)中，首先采