機械手設(shè)計及PLC控制【三自由度圓柱坐標式】【6張CAD圖紙+PDF圖】

喜歡就充值下載吧。。資源目錄里展示的文件全都有，，請放心下載，，有疑問咨詢QQ:414951605或者1304139763 ======================== 喜歡就充值下載吧。。資源目錄里展示的文件全都有，，請放心下載，，有疑問咨詢QQ:414951605或者1304139763 ======================== 本科畢業(yè)設(shè)計說明書（論文） 第 I 頁 共 I 頁 目 錄 1 緒論…………………………………………………………………………… 1 1.1 選題背景………………………………………………………………………… 1 1.2 設(shè)計目的………………………………………………………………………… 1 1.3 國內(nèi)外研究現(xiàn)狀和趨勢………………………………………………………… 1 1.4 設(shè)計原則………………………………………………………………………… 2 2 設(shè)計方案的論證…………………………………………………………………… 3 2.1 機械手的總體設(shè)計……………………………………………………………… 3 2.2 機械手腰座結(jié)構(gòu)的設(shè)計………………………………………………………… 4 2.3 機械手手臂的結(jié)構(gòu)設(shè)計………………………………………………………… 6 2.4 機械手腕部的結(jié)構(gòu)設(shè)計………………………………………………………… 7 2.5 機械手末端執(zhí)行器（手爪）的結(jié)構(gòu)設(shè)計……………………………………… 9 2.6 機械手的機械傳動機構(gòu)的設(shè)計……………………………………………… 11 2.7 機械手驅(qū)動系統(tǒng)的設(shè)計……………………………………………………… 15 2.8 機器人手臂的平衡機構(gòu)設(shè)計………………………………………………… 22 3 理論分析和設(shè)計計算…………………………………………………………… 23 3.1 液壓傳動系統(tǒng)設(shè)計計算……………………………………………………… 23 3.2 電機選型有關(guān)參數(shù)計算………………………………………………………… 31 4 機械手控制系統(tǒng)的設(shè)計………………………………………………………… 35 4.1 機械手控制系統(tǒng)硬件設(shè)計…………………………………………………… 35 4.2 機械手控制系統(tǒng)軟件設(shè)計…………………………………………………… 40 結(jié)束語 ……………………………………………………………………………… 42 致謝 ………………………………………………………………………………… 43 參考文獻…………………………………………………………………………… 44 南京理工大學(xué)泰州科技學(xué)院 畢業(yè)設(shè)計（論文）任務(wù)書 學(xué)院(系)： 機械工程學(xué)院 專 業(yè)： 機械工程及自動化 學(xué) 生 姓 名： 朱巖巖 學(xué) 號： 0601510115 設(shè)計(論文)題目： 機械手設(shè)計 起 迄 日 期: 2010年3月22日～6月27日 設(shè)計(論文)地點: 南京理工大學(xué)泰州科技學(xué)院 指 導(dǎo) 教 師: 吳萍 專業(yè)負責(zé)人: 發(fā)任務(wù)書日期: 2010年 3月 12日 任務(wù)書填寫要求 1．畢業(yè)設(shè)計（論文）任務(wù)書由指導(dǎo)教師根據(jù)各課題的具體情況填寫，經(jīng)學(xué)生所在專業(yè)的負責(zé)人審查、系部領(lǐng)導(dǎo)簽字后生效。此任務(wù)書應(yīng)在第七學(xué)期結(jié)束前填好并發(fā)給學(xué)生； 2．任務(wù)書內(nèi)容必須用黑墨水筆工整書寫或按教務(wù)處統(tǒng)一設(shè)計的電子文檔標準格式（可從教務(wù)處網(wǎng)頁上下載）打印，不得隨便涂改或潦草書寫，禁止打印在其它紙上后剪貼； 3．任務(wù)書內(nèi)填寫的內(nèi)容，必須和學(xué)生畢業(yè)設(shè)計（論文）完成的情況相一致，若有變更，應(yīng)當經(jīng)過所在專業(yè)及系部主管領(lǐng)導(dǎo)審批后方可重新填寫； 4．任務(wù)書內(nèi)有關(guān)“系部”、“專業(yè)”等名稱的填寫，應(yīng)寫中文全稱，不能寫數(shù)字代碼。學(xué)生的“學(xué)號”要寫全號； 5．任務(wù)書內(nèi)“主要參考文獻”的填寫，應(yīng)按照國標GB 7714—2005《文后參考文獻著錄規(guī)則》的要求書寫，不能有隨意性； 6．有關(guān)年月日等日期的填寫，應(yīng)當按照國標GB/T 7408—2005《數(shù)據(jù)元和交換格式、信息交換、日期和時間表示法》規(guī)定的要求，一律用阿拉伯數(shù)字書寫。如“2009年3月15日”或“2009-03-15”。 畢 業(yè) 設(shè) 計（論 文）任 務(wù) 書 1．本畢業(yè)設(shè)計（論文）課題應(yīng)達到的目的： 通過這次畢業(yè)設(shè)計使學(xué)生初步掌握機械設(shè)計、PLC控制設(shè)計、液壓系統(tǒng)設(shè)計的方法及基本步驟。掌握技術(shù)文件編寫的格式。 2．本畢業(yè)設(shè)計（論文）課題任務(wù)的內(nèi)容和要求（包括原始數(shù)據(jù)、技術(shù)要求、工作要求等）： 2.1課題任務(wù)的內(nèi)容 數(shù)控機床上下料機械手的設(shè)計 2.2課題任務(wù)的要求 首先根據(jù)數(shù)控機床的總體結(jié)構(gòu)，確定合適的機械手的運動空間，然后根據(jù)機械手的運動空間要求確定機械手的總體結(jié)構(gòu)、手臂結(jié)構(gòu)、夾持方法等，設(shè)計液壓系統(tǒng)原理圖。畫出總裝備圖，然后根據(jù)裝備圖設(shè)計零件圖。 畢 業(yè) 設(shè) 計（論 文）任 務(wù) 書 3．對本畢業(yè)設(shè)計（論文）課題成果的要求〔包括畢業(yè)設(shè)計論文、圖表、實物樣品等〕： 一、圖紙量要求： 總圖紙量大于3張0#圖 二、說明書要求 條理清楚、說明正確，總字數(shù)大于1.2萬字 4．主要參考文獻： [1] 楊黎明. 機床夾具設(shè)計手冊. 北京：國防工業(yè)出版社，1996. [2] 楊培元，朱福元. 液壓系統(tǒng)設(shè)計簡明手冊. 北京：機械工業(yè)出版社，1994. [3] 徐灝編. 新編機械設(shè)計師手冊. 北京：機械工業(yè)出版社,1995. [4] 葉偉昌. 機械工程及自動化簡明設(shè)計手冊(上冊) . 北京：機械工業(yè)出版社，2001. [5] 葉偉昌編. 機械工程及自動化簡明設(shè)計手冊(下冊) . 北京：機械工業(yè)出版社，2001. [6] 徐錦康. 機械設(shè)計. 北京：高等教育出版社，2004. [7] 成大先. 機械設(shè)計手冊［M］. 北京：化學(xué)工業(yè)出版社出版，2002. [8] 徐錦康. 機械設(shè)計. 北京：機械工業(yè)出版社，2001. [9] 王伯平. 互換性與測量技術(shù)基礎(chǔ). 北京：機械工業(yè)出版社，2001. [10] 袁國定，朱洪海. 機械制造技術(shù)基礎(chǔ). 南京：東南大學(xué)出版社，2000. 畢 業(yè) 設(shè) 計（論 文）任 務(wù) 書 5．本畢業(yè)設(shè)計（論文）課題工作進度計劃： 起 迄 日 期 工 作 內(nèi) 容 2010年 3月 12日 ~ 3月 28日 3月 29日 ~ 4月 4日 4月 5日 ~ 4月 11日 4月 12日 ~ 4月 18日 4月 19日 ~ 4月 25日 4月 26日 ~ 5月 9日 5月 10日 ~ 5月 23日 5月 24日 ~ 6月 6日 6月 7日 ~ 6月 20日 6月 21日 ~ 6月 27日 熟悉課題，調(diào)研，確定設(shè)計方案，完成開題報告。 完成外文翻譯。 總體設(shè)計，方案論證。 完成部件設(shè)計初稿。 部件設(shè)計定稿。 完成零件設(shè)計初稿。 零件設(shè)計定稿。 完成說明書初稿 畢業(yè)設(shè)計定稿 論文答辯 所在專業(yè)審查意見： 負責(zé)人： 年 月 日 學(xué)院（系）意見： 院（系）領(lǐng)導(dǎo)： 年 月 日 南京理工大學(xué)泰州科技學(xué)院 畢業(yè)設(shè)計(論文)前期工作材料 學(xué)生姓名: 朱巖巖 學(xué) 號： 0601510115 學(xué)院（系）: 機械工程學(xué)院 專 業(yè): 機械工程及自動化 設(shè)計(論文)題目: 機械手設(shè)計 指導(dǎo)教師: 吳萍 高級工程師 (姓 名) (專業(yè)技術(shù)職務(wù)) 材 料 目 錄 序號 名 稱 數(shù)量 備 注 1 畢業(yè)設(shè)計(論文)選題、審題表 1 2 畢業(yè)設(shè)計(論文)任務(wù)書 1 3 畢業(yè)設(shè)計(論文)開題報告〔含文獻綜述〕 1 4 畢業(yè)設(shè)計(論文)外文資料翻譯〔含原文〕 1 5 畢業(yè)設(shè)計（論文）中期檢查表 1 2010年6月 南京理工大學(xué)泰州科技學(xué)院 畢業(yè)設(shè)計(論文)外文資料翻譯 學(xué)院 (系)： 機械工程學(xué)院 專 業(yè)： 機械工程及自動化 姓 名： 朱巖巖 學(xué) 號： 0601510115 (用外文寫) 外文出處： 《Manufacturing Engineering and Technology—Machining》 附 件： 1.外文資料翻譯譯文；2.外文原文。 指導(dǎo)教師評語： 語言簡練，譯文基本符合原意，專業(yè)術(shù)語準確。 簽名： 2010年 3月 30日 注：請將該封面與附件裝訂成冊。 附件1：外文資料翻譯譯文 機械手 機械手是近幾十年發(fā)展起來的一種高科技自動化生產(chǎn)設(shè)備。工業(yè)機械手是工業(yè)機器人的一個重要分支。它的特點是可通過編程來完成各種預(yù)期的作業(yè)任務(wù)，在構(gòu)造和性能上兼有人和機器各自的優(yōu)點，尤其體現(xiàn)了人的智能和適應(yīng)性。機械手作業(yè)的準確性和各種環(huán)境中完成作業(yè)的能力，在國民經(jīng)濟各領(lǐng)域有著廣闊的發(fā)展前景。隨著工業(yè)自動化的發(fā)展, 出現(xiàn)了數(shù)控加工中心,它在減輕工人的勞動強度的同時, 大大提高了勞動生產(chǎn)率。但數(shù)控加工中常見的上下料工序, 通常仍采用人工操作或傳統(tǒng)繼電器控制的半自動化裝置。前者費時費工、效率低; 后者因設(shè)計復(fù)雜, 需較多繼電器,接線繁雜, 易受車體振動干擾,而存在可靠性差、故障多、維修困難等問題?？删幊绦蚩刂破鱌LC控制的上下料機械手控制系統(tǒng)動作簡便、線路設(shè)計合理、具有較強的抗干擾能力, 保證了系統(tǒng)運行的可靠性,降低了維修率, 提高了工作效率。機械手技術(shù)涉及到力學(xué)、機械學(xué)、電氣液壓技術(shù)、自動控制技術(shù)、傳感器技術(shù)和計算機技術(shù)等科學(xué)領(lǐng)域，是一門跨學(xué)科綜合技術(shù)。 一、 工業(yè)機械手的概述 機械手是一種能自動化定位控制并可重新編程序以變動的多功能機器，它有多個自由度，可用來搬運物體以完成在各個不同環(huán)境中工作。在工資水平較低的中國，塑料制品行業(yè)盡管仍屬于勞動力密集型，機械手的使用已經(jīng)越來越普及。那些電子和汽車業(yè)的歐美跨國公司很早就在它們設(shè)在中國的工廠中引進了自動化生產(chǎn)。但現(xiàn)在的變化是那些分布在工業(yè)密集的華南、華東沿海地區(qū)的中國本土塑料加工廠也開始對機械手表現(xiàn)出越來越濃厚的興趣，因為他們要面對工人流失率高，以及為工人交工傷費帶來的挑戰(zhàn)。 隨著我國工業(yè)生產(chǎn)的飛躍發(fā)展，特別是改革開發(fā)以后，自動化程度的迅速提高，實現(xiàn)工件的裝卸、轉(zhuǎn)向、輸送或操作釬焊、噴槍、扳手等工具進行加工、裝配等作業(yè)自化，已愈來愈引起我們重視。 機械手是模仿著人手的部分動作，按給定的程序、軌跡和要求實現(xiàn)自動抓取、搬運或操作的自動機械裝置。 在現(xiàn)實生活中，你是否會發(fā)現(xiàn)這樣一個問題。在機械工廠里，加工零件裝料的時候是不是很煩的，勞動生產(chǎn)率不高，生產(chǎn)成本大，有時候還會發(fā)生一些人為事故，導(dǎo)致加工者受傷。想想看用什么可以來代替呢，加工的時候只要有幾個人巡視一下，且可以二十四個小時飽和運作，人行嗎？回答是肯定的，但是機械手可以來代替它。 生產(chǎn)中應(yīng)用機械手可以提高生產(chǎn)的自動化水平和勞動生產(chǎn)率;可以減輕勞動強度、保證產(chǎn)品質(zhì)量、實現(xiàn)安全生產(chǎn)；尤其是在高溫、高壓、低溫、低壓、粉塵、易爆、有毒氣體和放射性等惡劣的環(huán)境中能夠代替人進行正常的工作。想到這里我就很想設(shè)計一個機械手，來用于生產(chǎn)實際中。 為什么選著設(shè)計機械手用氣動來提供動力：氣動機械手是指以壓縮空氣為動力源驅(qū)動的機械手。用氣壓驅(qū)動與其他能源驅(qū)動比較有以下優(yōu)點：1.空氣取之不竭，用過之后排入大氣，不需要回收和處理，不污染環(huán)境。（環(huán)保的概念）2.空氣的沾性很小，管路中壓力損失也很?。ㄒ话銡饴纷枇p失不到油路的千分之一），便于遠距離輸送。3.壓縮空氣的工作壓力較低(一般為4～8公斤/每平方厘米)，因此對動元件的材質(zhì)和制造精度要求可以降低。4.與液壓傳動相比，它的動作和反應(yīng)都快，這是氣動突出的優(yōu)點之一。5.空氣介質(zhì)清潔，亦不會變質(zhì)，管路不易堵塞。但是也有它美中不足的地方：1.由于空氣的可壓縮性，致使氣動工作的穩(wěn)定性差，因而造成執(zhí)行機構(gòu)運動速度和定為精度不易控制。2.由于使用氣壓較低，輸出力不可能太大，為了增加輸出力，必然使整個氣動系統(tǒng)的結(jié)構(gòu)尺寸加大。 用氣壓驅(qū)動與用其他能源驅(qū)動比較有以下優(yōu)點： 空氣取之不竭，用過之后排入大氣，不需回收和處理，不污染環(huán)境。偶然的或少量的泄漏不致對生產(chǎn)發(fā)生嚴重的影響。 空氣的粘性很小，管路中壓力損失也就很小，便于遠距離輸送。 壓縮空氣的工作壓力較低，因此對氣動元件的材質(zhì)和制造精度要求可以降低。一般說來，往復(fù)運動推力在1~2噸以下采用氣動經(jīng)濟性較好。 與液壓傳動相比，它的動作和反應(yīng)都快，這是氣動的突出優(yōu)點之一。 空氣介質(zhì)清潔，亦不會變質(zhì)，管路不易堵塞。 它可安全地應(yīng)用在易燃、易爆和粉塵大的場合。又便于實現(xiàn)過載自動保護. 二﹑機械手的組成 機械手的形式是多種多樣的，有的較為簡單，有的較為復(fù)雜，但基本的組成形式是相同的，一般由執(zhí)行機構(gòu)、傳動系統(tǒng)、控制系統(tǒng)和輔助裝置組成。 1. 執(zhí)行機構(gòu) 機械手的執(zhí)行機構(gòu)，由手、手腕、手臂、支柱組成。手是抓取機構(gòu)，用來夾緊和松開工件，與人的手指相仿，能完成人手的類似動作。手腕是連接手指與手臂的元件，可以進行上下、左右和回轉(zhuǎn)動作。簡單的機械手可以沒有手腕。支柱用來支撐手臂，也可以根據(jù)需要做成移動。 2. 傳動系統(tǒng) 執(zhí)行機構(gòu)的動作要由傳動系統(tǒng)來實現(xiàn)。常用機械手傳動系統(tǒng)分機械傳動、液壓傳動、氣壓傳動和電力傳動等幾種形式。 3. 控制系統(tǒng) 機械手控制系統(tǒng)的主要作用是控制機械手按一定的程序、方向、位置、速度進行動作，簡單的機械手一般不設(shè)置專用的控制系統(tǒng)，只采用行程開關(guān)、繼電器、控制閥及電路便可實現(xiàn)動傳動系統(tǒng)的控制，使執(zhí)行機構(gòu)按要求進行動作．動作復(fù)雜的機械手則要采用可編程控制器、微型計算機進行控制。 三﹑ 機械手的分類和特點 機械手一般分為三類：第一類是不需要人工操作的通用機械手。它是一種獨立的不附屬于某一主機的裝置。它可以根據(jù)任務(wù)的需要編制程序，以完成各項規(guī)定的操作。它的特點是具備普通機械的性能之外，還具備通用機械、記憶智能的三元機械。第二類是需要人工才做的，稱為操作機。它起源于原子、軍事工業(yè)，先是通過操作機來完成特定的作業(yè)，后來發(fā)展到用無線電訊號操作機來進行探測月球等。工業(yè)中采用的鍛造操作機也屬于這一范疇。第三類是用專用機械手，主要附屬于自動機床或自動線上，用以解決機床上下料和工件送。這種機械手在國外稱為“Mechanical Hand”，它是為主機服務(wù)的，由主機驅(qū)動；除少數(shù)以外，工作程序一般是固定的，因此是專用的。 主要特點： (1) 機械手（上下料機械手、裝配機械手、搬運機械手、堆垛機械手、助力機械手、真空搬運機、 真空吸吊機、省力吊具、氣動平衡器等）。 (2) 懸臂起重機（懸臂吊、電動環(huán)鏈葫蘆吊、氣動平衡吊等） (3) 導(dǎo)軌式搬運系統(tǒng)（懸掛軌道、輕型軌道、單梁起重機、雙梁起重機） (4) 工業(yè)機械手的應(yīng)用 機械手是在機械化、自動化生產(chǎn)過程中發(fā)展起來的一種新型裝置。近年來，隨著電子技術(shù)特別是電子計算機的廣泛應(yīng)用，機器人的研制和生產(chǎn)已成為高技術(shù)領(lǐng)域內(nèi)迅速發(fā)展起來的一門新興技術(shù)，它更加促進了機械手的發(fā)展，使得機械手能更好地實現(xiàn)與機械化和自動化的有機結(jié)合。 機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、不知疲勞、不怕危險、抓舉重物的力量比人手大等特點，因此，機械手已受到許多部門的重視，并越來越廣泛地得到了應(yīng)用，例如： (1) 機床加工工件的裝卸，特別是在自動化車床、組合機床上使用較為普遍。 (2) 在裝配作業(yè)中應(yīng)用廣泛，在電子行業(yè)中它可以用來裝配印制電路板，在機械行業(yè)中它可以用來組裝零部件。 (3) 可在勞動條件差，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。 (4) 可在危險場合下工作，如軍工品的裝卸、危險品及有害物的搬運等。 (5) 宇宙及海洋的開發(fā)。 (6) 軍事工程及生物醫(yī)學(xué)方面的研究和試驗。 助力機械手:又稱平衡器、平衡吊、省力吊具、手動移載機等，是一種無重力化手動承載系統(tǒng)，一種新穎的、用于物料搬運時省力化操作的助力設(shè)備,屬于一種非標設(shè)計的系列化產(chǎn)品。針對客戶應(yīng)用需求，量身定制的個案創(chuàng)作。 一種模擬人手操作的自動機械，它可按固定程序抓取﹑搬運物件或操持工具完成某些特定操作。應(yīng)用機械手可以代替人從事單調(diào)﹑重復(fù)或繁重的體力勞動，實現(xiàn)生產(chǎn)的機械化和自動化，代替人在有害環(huán)境下的手工操作，改善勞動條件，保證人身安全。20世紀40年代后期，美國在原子能實驗中，首先采用機械手搬運放射性材料，人在安全室操縱機械手進行各種操作和實驗。50年代以后，機械手逐步推廣到工業(yè)生產(chǎn)部門，用于在高溫﹑污染嚴重的地方取放工件和裝卸材料，也作為機床的輔助裝置在自動機床﹑自動生產(chǎn)線和加工中心中應(yīng)用，完成上下料或從刀庫中取放刀具并按固定程序更換刀具等操作。機械手主要由手部機構(gòu)和運動機構(gòu)組成。手部機構(gòu)隨使用場合和操作對象而不同，常見的有夾持﹑托持和吸附等類型。運動機構(gòu)一般由液壓﹑氣動﹑電氣裝置驅(qū)動。機械手可獨立地實現(xiàn)伸縮﹑旋轉(zhuǎn)和昇降等運動，一般有2～3個自由度。機械手廣泛用于機械製造﹑冶金﹑輕工和原子能等部門。 能模仿人手和臂的某些動作功能，用以按固定程序抓取、搬運物件或操作工具的自動操作裝置。它可代替人的繁重勞動以實現(xiàn)生產(chǎn)的機械化和自動化，能在有害環(huán)境下操作以保護人身安全，因而廣泛應(yīng)用于機械制造、冶金、電子、輕工和原子能等部門。 機械手通常用作機床或其他機器的附加裝置，如在自動機床或自動生產(chǎn)線上裝卸和傳遞工件，在加工中心中更換刀具等，一般沒有獨立的控制裝置。有些操作裝置需要由人直接操縱，如用于原子能部門操持危險物品的主從式操作手也常稱為機械手。 機械手主要由手部和運動機構(gòu)組成。手部是用來抓持工件（或工具）的部件，根據(jù)被抓持物件的形狀、尺寸、重量、材料和作業(yè)要求而有多種結(jié)構(gòu)形式，如夾持型、托持型和吸附型等。運動機構(gòu)，使手部完成各種轉(zhuǎn)動（擺動）、移動或復(fù)合運動來實現(xiàn)規(guī)定的動作，改變被抓持物件的位置和姿勢...... 機械手是在自動化生產(chǎn)過程中使用的一種具有抓取和移動工件功能的自動化裝置，它是在機械化、自動化生產(chǎn)過程中發(fā)展起來的一種新型裝置。近年來，隨著電子技術(shù)特別是電子計算機的廣泛應(yīng)用，機器人的研制和生產(chǎn)已成為高技術(shù)領(lǐng)域內(nèi)迅速發(fā)展起來的一門新興技術(shù)，它更加促進了機械手的發(fā)展，使得機械手能更好地實現(xiàn)與機械化和自動化的有機結(jié)合。機械手能代替人類完成危險、重復(fù)枯燥的工作，減輕人類勞動強度，提高勞動生產(chǎn)力。機械手越來越廣泛的得到了應(yīng)用，在機械行業(yè)中它可用于零部件組裝 ，加工工件的搬運、裝卸，特別是在自動化數(shù)控機床、組合機床上使用更普遍。目前，機械手已發(fā)展成為柔性制造系統(tǒng)FMS和柔性制造單元FMC中一個重要組成部分。把機床設(shè)備和機械手共同構(gòu)成一個柔性加工系統(tǒng)或柔性制造單元，它適應(yīng)于中、小批量生產(chǎn)，可以節(jié)省龐大的工件輸送裝置，結(jié)構(gòu)緊湊，而且適應(yīng)性很強。當工件變更時，柔性生產(chǎn)系統(tǒng)很容易改變，有利于企業(yè)不斷更新適銷對路的品種，提高產(chǎn)品質(zhì)量，更好地適應(yīng)市場競爭的需要。而目前我國的工業(yè)機器人技術(shù)及其工程應(yīng)用的水平和國外比還有一定的距離，應(yīng)用規(guī)模和產(chǎn)業(yè)化水平低，機械手的研究和開發(fā)直接影響到我國自動化生產(chǎn)水平的提高，從經(jīng)濟上、技術(shù)上考慮都是十分必要的。因此，進行機械手的研究設(shè)計是非常有意義的。? 附件2：外文原文 Manipulator Robot developed in recent decades as high-tech automated production equipment. 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 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, 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 labor 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 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, automatic control technology, sensor technology and computer technology and other fields of science, is a cross-disciplinary integrated technology. First, an overview of industrial manipulator Robot is a kind of positioning control can be automated and can be re-programmed to change in multi-functional machine, which has multiple degrees of freedom can be used to carry an object in order to complete the work in different environments. Low wages in China, plastic products industry, although still a labor-intensive, mechanical hand use has become increasingly popular. Electronics and automotive industries that Europe and the United States multinational companies very early in their factories in China, the introduction of automated production. But now the changes are those found in industrial-intensive South China, East China's coastal areas, local plastic processing plants have also emerged in mechanical watches began to become increasingly interested in, because they have to face a high turnover rate of workers, as well as for the workers to pay work-related injuries fee challenges. With the rapid development of China's industrial production, especially the reform and opening up after the rapid increase in the degree of automation to achieve the workpiece handling, steering, transmission or operation of brazing, spray gun, wrenches and other tools for processing and assembly operations since, which has more and more attracted our attention. Robot is to imitate the manual part of the action, according to a given program, track and requirements for automatic capture, handling or operation of the automatic mechanical 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 production major, and sometimes man-made incidents will occur, resulting in processing 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 human right? The answer is yes, but the robot can come to replace it. Production of mechanical hand can increase the automation level of production and labor productivity; can reduce labor intensity, ensuring product quality, to achieve safe production; particularly in the high-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 production. Why would a robot designed to provide a pneumatic power: pneumatic robot refers to the compressed air as power source-driven robot. With pressure-driven and other energy-driven comparison have the following advantages: 1. Air inexhaustible, used later discharged into the atmosphere, does not require recycling 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 facilitate long-distance transport. 3. Compressed air of the working pressure is low (usually 4 to 8 kg / per square centimeter), and therefore moving the material components and manufacturing accuracy requirements can be lowered. 4. With the hydraulic transmission, compared to its faster action and reaction, which is one of the advantages pneumatic outstanding. 5. The air cleaner media, it will not degenerate, not easy to plug the pipeline. 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 agencies as the precision of the velocity and not easily controlled. 2. As the use of low atmospheric pressure, the output power can not be too large; in order to increase the output power is bound to the structure of the entire pneumatic system size increased. With pneumatic drive and compare with other energy sources drive has the following advantages: Air inexhaustible, used later discharged into the atmosphere, without recycling and disposal, do not pollute the environment. Accidental or a small amount of leakage would not be a serious impact on production. The lower working pressure of compressed air, pneumatic components and therefore the material and manufacturing accuracy requirements can be lowered. In general, reciprocating thrust in 1 to 2 tons pneumatic economy is better. Compared with the hydraulic transmission, and its faster action and reaction, 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 occasions. Also easy to realize automatic overload protection. Second, the composition, mechanical 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, transmission systems, control systems and auxiliary devices composed. 1. Implementing agencies Manipulator executing agency by the hands, wrists, arms, pillars. Hands are crawling institutions, is used to clamp and release the workpiece, and similar to human fingers, to complete the staffing of similar actions. Wrist and fingers and the arm connecting the components can be up and down, left, and rotary movement. A simple mechanical hand can not wrist. Pillars used to support the arm can also be made mobile as needed. 2. Transmission The actuator to be achieved by the transmission system. Sub-transmission system commonly used manipulator mechanical transmission, hydraulic transmission, pneumatic and electric power transmission and other drive several forms. 3. Control System Manipulator control system's main role is to control the robot according to certain procedures, direction, position, speed of action, a simple mechanical hand is generally not set up a dedicated control system, using only trip switches, relays, control valves and circuits can be achieved dynamic drive system control, so that implementing agencies according to the requirements of action. Action will have to use complex programmable robot controller, the micro-computer control. Three, mechanical hand classification and characteristics Robots are generally 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 programmed according to the needs of the task to complete the operation of the provisions. It is characterized with ordinary mechanical performance, also has general machinery, memory, intelligence ternary machinery. The second category is the need to manually do it, called the operation of aircraft. It originated in the atom, military industry, first through the operation 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 industrial manipulator also fall into this category. The third category is dedicated manipulator, the main subsidiary of the automatic machines or automatic lines, to solve the machine up and down the workpiece material and delivery. This mechanical hand in foreign countries known as the "Mechanical Hand", which is the host of services, from the host-driven; exception of a few outside the working procedures are generally fixed, and therefore special. Main features: First, mechanical hand (the upper and lower material robot, assembly robot, handling robot, stacking robot, help robot, vacuum handling machines, vacuum suction crane, labor-saving spreader, pneumatic balancer, etc.). Second, cantilever cranes (cantilever crane, electric chain hoist crane, air balance the hanging, etc.) Third, rail-type transport system (hanging rail, light rail, single girder cranes, double-beam crane) Four, industrial machinery, application of hand Manipulator in the mechanization and automation of the production process developed a new type of device. In recent years, as electronic technology, especially computer extensive use of robot development and production of high-tech fields has become a rapidly developed a new technology, which further promoted the development of robot, allowing robot to better achieved with the combination of mechanization and automation. Although the robot is not as flexible as staff, but it has to the continuous duplication of work and labor, I do not know fatigue, not afraid of danger, the power snatch weight characteristics when compared with manual large, therefore, mechanical hand has been of great importance to many sectors, and increasingly has been applied widely, for example: (1) Machining the workpiece loading and unloading, especially in the automatic lathe, combination machine tool use is more common. (2) In the assembly operations 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 working conditions may be poor, monotonous, repetitive easy to sub-fatigue working environment to replace human labor. (4) May be in dangerous situations, such as military goods handling, dangerous goods and hazardous materials removal and so on. (5) Universe and ocean development. (6), military engineering and biomedical research and testing. Help mechanical hands: also known as the balancer, balance suspended, labor-saving spreader, manual Transfer machine is a kind of weightlessness of manual load system, a novel, time-saving technology for material handling operations booster equipment, belonging to kinds of non-standard design of series products. Customer application needs, creating customized cases. Manual operation of a simulation of the automatic machinery, it can be a fixed program draws ﹑ handling objects or perform household tools to accomplish certain specific actions. Application of robot can replace the people engaged in monotonous ﹑ repetitive or heavy manual labor, the mechanization and automation of production, instead of people in hazardous environments manual operation, improving working conditions and ensure personal safety. The late 20th century, 40, the United States atomic energy experiments, the first use of radioactive material handling robot, human robot in a safe room to manipulate various operations and experimentation. 50 years later, manipulator and gradually extended to industrial production sector, for the temperatures, polluted areas, and loading and unloading to take place the work piece material, but also as an auxiliary device in automatic machine tools, machine tools, automatic production lines and processing center applications, the completion of the upper and lower material, or From the library take place knife knife and so on according to fixed procedures for the replacement operation. Robot body mainly by the hand and sports institutions. Agencies with the use of hands and operation of objects of different occasions, often there are clamping ﹑ support and adsorption type of care. Movement organs are generally hydraulic pneumatic ﹑ ﹑ electrical device drivers. Can mimic some of the staff and arm motor function, a fixed procedure for the capture, handling objects or operating tools, automatic operation device. It can replace human labor in order to achieve the production of heavy mechanization and automation that can operate in hazardous environments to protect the personal safety, which is widely used in machinery manufacturing, metallurgy, electronics, light industry and nuclear power sectors. Mechanical hand tools or other equipment commonly used for additional devices, such as the automatic machines or automatic production line handling and transmission of the workpiece, the replacement of cutting tools in machining centers, etc. generally do not have a separate control device. Some operating devices require direct manipulation by humans; such as the atomic energy sector performs household hazardous materials used in the master-slave manipulator is also often referred to as mechanical hand. 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 adsorption-based care such as holding. Sports organizations, so that the completion of a variety of hand rotation (swing), mobile or compound movements to achieve the required action, to change the location of objects by grasping and posture. Robot is the automated production of a kind used in the process of crawling and moving piece features automatic device, which is mechanized and automated production process developed a new type of device. In recent years, as electronic technology, especially computer extensive use of robot development and production of high-tech fields has become a rapidly developed a new technology, which further promoted the development of robot, allowing robot to better achieved with the combination of mechanization and automation. Robot can replace humans completed the risk of duplication of boring work, to reduce human labor intensity and improve labor productivity. Manipulator has been applied more and more widely, in the machinery industry, it can be used for parts assembly, work piece handling, loading and unloading, particularly