取放工件機(jī)械手的設(shè)計(jì)【CAD】
取放工件機(jī)械手的設(shè)計(jì)【CAD】,CAD,取放工件機(jī)械手的設(shè)計(jì)【CAD】,放工,機(jī)械手,設(shè)計(jì)
黃河科技學(xué)院本科畢業(yè)設(shè)計(jì)(論文)任務(wù)書
工 學(xué)院 機(jī) 械 系 機(jī)械設(shè)計(jì)制造及其自動(dòng)化 專業(yè) 08 級(jí) 機(jī)電二 班
學(xué)號(hào) 學(xué)生 指導(dǎo)教師
畢業(yè)設(shè)計(jì)(論文)題目
本次設(shè)計(jì)的機(jī)械手主要用途是用于夾取和放置砂布輪基體。該砂布輪基體夾取部位為Φ15的孔,基體厚度為1mm。
畢業(yè)設(shè)計(jì)(論文)工作內(nèi)容與基本要求(目標(biāo)、任務(wù)、途徑、方法,應(yīng)掌握的原始資料(數(shù)據(jù))、參考資料(文獻(xiàn))以及設(shè)計(jì)技術(shù)要求、注意事項(xiàng)等)(紙張不夠可加頁(yè))。
一.主要內(nèi)容:
1.分析課題條件要求,查閱文獻(xiàn),擬定總體設(shè)計(jì)方案;
2.設(shè)計(jì)機(jī)械手機(jī)構(gòu)和氣動(dòng)回路;
3.編寫設(shè)計(jì)說(shuō)明書,翻譯外文,編寫文獻(xiàn)綜述。
二.要求:
1. 設(shè)計(jì)機(jī)械手機(jī)構(gòu)和氣動(dòng)回路;
2. 編寫設(shè)計(jì)說(shuō)明書,設(shè)計(jì)說(shuō)明書不少于6000字;
3. 查閱文獻(xiàn)資料不少于12篇,其中外文資料不少于2篇;文獻(xiàn)綜述不少于3000字。
三.主要參考資料:
《機(jī)械設(shè)計(jì)手冊(cè)》 化學(xué)工業(yè)出版社
《機(jī)械設(shè)計(jì)》 西北工業(yè)大學(xué)出版社
《現(xiàn)代機(jī)床電器》 機(jī)械工業(yè)出版社
四、時(shí)間安排:
1-4 周 完成開題報(bào)告、文獻(xiàn)翻譯、文獻(xiàn)綜述及總體方案設(shè)計(jì)
5-10 周 完成機(jī)構(gòu)設(shè)計(jì)、完成氣路圖并撰寫說(shuō)明書
10-12 周 修改論文、資格審查等
13 周 畢業(yè)答辯
畢業(yè)設(shè)計(jì)(論文)時(shí)間: 2012 年 2 月 13 日至 2012 年 5 月 15 日
計(jì) 劃 答 辯 時(shí) 間: 2012 年 5 月 19 日
專業(yè)(教研室)審批意見:
審批人(簽字):
黃河科技學(xué)院畢業(yè)設(shè)計(jì)(論文)開題報(bào)告表
課題名稱
取放工件機(jī)械手的設(shè)計(jì)
課題來(lái)源
教師擬訂
課題類型
AY
指導(dǎo)教師
學(xué)生姓名
專 業(yè)
機(jī)械設(shè)計(jì)制造及其自動(dòng)化
學(xué) 號(hào)
一、調(diào)研資料的準(zhǔn)備
根據(jù)任務(wù)書的要求,在做本課題前,查閱了與課題相關(guān)的資料有:機(jī)電一體化技術(shù)與系統(tǒng),液壓與氣壓傳動(dòng),CAD軟件制圖,機(jī)械設(shè)計(jì)手冊(cè)等相關(guān)教材。
二、設(shè)計(jì)的目的與要求
畢業(yè)設(shè)計(jì)是大學(xué)教學(xué)中最后一個(gè)實(shí)踐性教學(xué)環(huán)節(jié),通過(guò)該設(shè)計(jì)過(guò)程,可以檢驗(yàn)我們?cè)诖髮W(xué)期間所學(xué)的知識(shí),同時(shí)培養(yǎng)我們處理工程中實(shí)際問題的能力,因此意義特別重大。
取放工件機(jī)械手通過(guò)氣壓傳動(dòng)回路控制普通氣缸的伸縮、擺動(dòng)氣缸的旋轉(zhuǎn)以及氣囊的縮漲(氣囊的縮漲間接地驅(qū)動(dòng)抓手的張開或收縮,從而使其夾緊或松開工件),從而完成整個(gè)機(jī)械手取放工件的動(dòng)作過(guò)程。
三、設(shè)計(jì)的思路與預(yù)期成果
1、設(shè)計(jì)思路
1) 首先:根據(jù)本次設(shè)計(jì)相關(guān)要求查找資料,做好準(zhǔn)備。
2) 其次:依據(jù)要實(shí)現(xiàn)的功能要求計(jì)算并選擇或設(shè)計(jì)合適的氣缸、氣囊,畫出裝配圖,再進(jìn)而畫出部分零件圖。
3) 最后:畫出氣壓傳動(dòng)回路圖。
2、預(yù)期的成果
(1)完成文獻(xiàn)綜述一篇,不少于3000字,與專業(yè)相關(guān)的英文翻譯一篇,不少于3000字。
(2)完成內(nèi)容與字?jǐn)?shù)都不少于規(guī)定量的畢業(yè)設(shè)計(jì)說(shuō)明書一份。
(3)繪制裝配圖,部分零件圖,氣動(dòng)回路圖。
(4)刻錄包含本次設(shè)計(jì)的所有內(nèi)容的光盤一張。
四、任務(wù)完成的階段內(nèi)容及時(shí)間安排
1周—— 2周 收集設(shè)計(jì)資料并完成開題報(bào)告
3周—— 4周 完成英文資料翻譯并寫出文獻(xiàn)綜述
5周—— 6周 進(jìn)行總體設(shè)計(jì)和部分零部件的選擇與設(shè)計(jì)
7周——10周 繪制裝配圖和部分零件圖、編寫畢業(yè)設(shè)計(jì)說(shuō)明書
11周 修改整理,準(zhǔn)備答辯
五、完成設(shè)計(jì)(論文)所具備的條件因素
具備機(jī)械手設(shè)計(jì)、氣壓與液壓傳動(dòng)等的相關(guān)知識(shí),能有效借助圖書館的相關(guān)文獻(xiàn)資料,相關(guān)的網(wǎng)絡(luò)等資源,查閱機(jī)械設(shè)計(jì)手冊(cè)、組合機(jī)床設(shè)計(jì)手冊(cè)、畢業(yè)設(shè)計(jì)指導(dǎo)手冊(cè)并且具有良好的計(jì)算機(jī)繪圖(CAD)操作能力。
指導(dǎo)教師簽名: 日期: 2012-2-22
課題來(lái)源:(1)教師擬訂;(2)學(xué)生建議;(3)企業(yè)和社會(huì)征集;(4)科研單位提供
課題類型:(1)A—工程設(shè)計(jì)(藝術(shù)設(shè)計(jì));B—技術(shù)開發(fā);C—軟件工程;D—理論研究;E—調(diào)研報(bào)告
(2)X—真實(shí)課題;Y—模擬課題;Z—虛擬課題
要求(1)、(2)均要填,如AY、BX等。
黃河科技學(xué)院畢業(yè)設(shè)計(jì)(文獻(xiàn)綜述) 第 5 頁(yè)
氣動(dòng)機(jī)械手
摘要
機(jī)械工業(yè)是國(guó)民的裝備部,是為國(guó)民經(jīng)濟(jì)提供裝備和為人民生提供耐用消費(fèi)品的產(chǎn)業(yè)。機(jī)械工業(yè)的規(guī)模和技術(shù)水平是衡量國(guó)家經(jīng)濟(jì)實(shí)力和科學(xué)技術(shù)水平的要標(biāo)志。因此,世界各國(guó)都把發(fā)展機(jī)械工業(yè)作為發(fā)展本國(guó)經(jīng)濟(jì)的戰(zhàn)略重點(diǎn)之一。生產(chǎn)水平及科學(xué)技術(shù)的不斷進(jìn)步與發(fā)展帶動(dòng)了整個(gè)機(jī)械工業(yè)的快速發(fā)展?,F(xiàn)代工業(yè)中,生產(chǎn)過(guò)程的機(jī)械化,自動(dòng)化已成為突出的主題。然而在機(jī)械工業(yè)中,加工、裝配等生產(chǎn)是不連續(xù)的。單靠人力將這些不連續(xù)的生產(chǎn)工序接起來(lái),不僅費(fèi)時(shí)而且效率不高。同時(shí)人的勞動(dòng)強(qiáng)度非常大,有時(shí)還會(huì)出現(xiàn)失誤及傷害。顯然,這嚴(yán)重影響制約了整個(gè)生產(chǎn)過(guò)程的效率和自動(dòng)化程度。機(jī)械手的應(yīng)用很好的解決了這一情況,它不存在重復(fù)的偶然失誤,也能有效的避免了人身事故。 隨著工業(yè)機(jī)械化和自動(dòng)化的發(fā)展以及氣動(dòng)技術(shù)自身的一些優(yōu)點(diǎn),氣動(dòng)機(jī)械手已經(jīng)廣泛應(yīng)用在生產(chǎn)自動(dòng)化的各個(gè)行業(yè)。 本文就氣動(dòng)機(jī)械手的應(yīng)用現(xiàn)狀和發(fā)展前景作了簡(jiǎn)單概述。
關(guān)鍵詞:氣動(dòng)技術(shù),氣動(dòng)機(jī)械手,應(yīng)用與發(fā)展
前言
近20年來(lái),氣動(dòng)技術(shù)的運(yùn)用領(lǐng)域快速拓寬,特別是在各種自動(dòng)化生產(chǎn)線上得到廣泛應(yīng)用。電氣可編程控制技術(shù)與氣動(dòng)技術(shù)相結(jié)合,使整個(gè)系統(tǒng)自動(dòng)化程度更高,控制方式更靈活,性能更加可靠;氣動(dòng)機(jī)械手、柔性自動(dòng)生產(chǎn)線的迅速發(fā)展,對(duì)氣動(dòng)技術(shù)提出了更多更高的要求;微電子技術(shù)的引入,促進(jìn)了電氣比例伺服技術(shù)的發(fā)展,現(xiàn)代控制理論的發(fā)展,使氣動(dòng)技術(shù)從開關(guān)控制進(jìn)入閉環(huán)比例伺服控制,控制精度不斷提高;由于氣動(dòng)脈寬調(diào)制技術(shù)具有結(jié)構(gòu)簡(jiǎn)單、抗污染能力強(qiáng)和成本低廉等特點(diǎn),國(guó)內(nèi)外都在大力開發(fā)研究。
1.一般機(jī)械手的組成
1.1 執(zhí)行機(jī)構(gòu)
機(jī)械手主要由執(zhí)行機(jī)構(gòu)、驅(qū)動(dòng)機(jī)構(gòu)和控制系統(tǒng)三大部分組成。其組成及相互關(guān)系如下圖:
(1) 手部
手部安裝在手臂的前端。手臂的內(nèi)孔裝有轉(zhuǎn)動(dòng)軸,可把動(dòng)作傳給手腕,以轉(zhuǎn)動(dòng)、伸屈手腕,開閉手指。
機(jī)械手手部的機(jī)構(gòu)系模仿人的手指,分為無(wú)關(guān)節(jié),固定關(guān)節(jié)和自由關(guān)節(jié)三種。手指的數(shù)量又可以分為二指、三指和四指等,其中以二指用的最多。可以根據(jù)夾持對(duì)象的形狀和大小配備多種形狀和尺寸的夾頭,以適應(yīng)操作需要。
(2) 手臂
手臂有無(wú)關(guān)節(jié)和有關(guān)節(jié)手臂之分 本課所做的機(jī)械手的手臂采用無(wú)關(guān)節(jié)臂 手臂的作用是引導(dǎo)手指準(zhǔn)確的抓住工件,并運(yùn)送到所需要的位置上。為了使機(jī)械手能夠正確的工作,手臂的三個(gè)自由度都需要精確的定位。
總括機(jī)械手的運(yùn)動(dòng)離不開直線移動(dòng)和轉(zhuǎn)動(dòng)二種,因此,它采用的執(zhí)行機(jī)構(gòu)主要是直線油缸、擺動(dòng)油缸、電液脈沖馬達(dá)、伺服油馬達(dá)、直流伺服馬達(dá)和步進(jìn)馬達(dá)等。
軀干是安裝手臂、動(dòng)力源和執(zhí)行機(jī)構(gòu)的支架。
1.2 驅(qū)動(dòng)機(jī)構(gòu)
驅(qū)動(dòng)機(jī)構(gòu)主要有四種:液壓驅(qū)動(dòng)、氣壓驅(qū)動(dòng)、電氣驅(qū)動(dòng)和機(jī)械驅(qū)動(dòng)。其中以液壓氣動(dòng)用的最多,占90%以上,電動(dòng)、機(jī)械驅(qū)動(dòng)用的較少。
液壓驅(qū)動(dòng)主要是通過(guò)油缸、閥、油泵和油箱等實(shí)現(xiàn)傳動(dòng)。它利用油缸、馬達(dá)加上齒輪、齒條實(shí)現(xiàn)直線運(yùn)動(dòng);利用擺動(dòng)油缸、馬達(dá)與減速器、油缸與齒條、齒輪或鏈條、鏈輪等實(shí)現(xiàn)回轉(zhuǎn)運(yùn)動(dòng)。液壓驅(qū)動(dòng)的優(yōu)點(diǎn)是壓力高、體積小、出力大、運(yùn)動(dòng)平緩,可無(wú)級(jí)變速,自鎖方便,并能在中間位置停止。缺點(diǎn)是需要配備壓力源,系統(tǒng)復(fù)雜成本較高。
氣壓驅(qū)動(dòng)所采用的元件為氣壓缸、氣壓馬達(dá)、氣閥等。一般采用4-6 個(gè)大氣壓,個(gè)別的達(dá)到 8-10 個(gè)大氣壓。它的優(yōu)點(diǎn)是氣源方便,維護(hù)簡(jiǎn)單,成本低。缺點(diǎn)是出力小,體積大。由于空氣的可壓縮性大,很難實(shí)現(xiàn)中間位置的停止,只能用于點(diǎn)位控制,而且潤(rùn)滑性較差,氣壓系統(tǒng)容易生銹。
電氣驅(qū)動(dòng)采用的不多?,F(xiàn)在都用三相感應(yīng)電動(dòng)機(jī)作為動(dòng)力,用大減速比減速器來(lái)驅(qū)動(dòng)執(zhí)行機(jī)構(gòu);直線運(yùn)動(dòng)則用電動(dòng)機(jī)帶動(dòng)絲杠螺母機(jī)構(gòu);有的采用直線電動(dòng)機(jī)。通用機(jī)械手則考慮用步進(jìn)電機(jī)、直流或交流的伺服電機(jī)、變速箱等。 電氣驅(qū)動(dòng)的優(yōu)點(diǎn)是動(dòng)力源簡(jiǎn)單,維護(hù),使用方便。驅(qū)動(dòng)機(jī)構(gòu)和控制系統(tǒng)可以采用統(tǒng)一形式的動(dòng)力,出力比較大;缺點(diǎn)是控制響應(yīng)速度比較慢。 機(jī)械驅(qū)動(dòng)只用于固定的場(chǎng)合。一般用凸輪連桿機(jī)構(gòu)實(shí)現(xiàn)規(guī)定的動(dòng)作。它的優(yōu)點(diǎn)是動(dòng)作確實(shí)可靠,速度高,成本低;缺點(diǎn)是不易調(diào)整。
1.3 控制系統(tǒng)
機(jī)械手控制系統(tǒng)的要素,包括工作順序、到達(dá)位置、動(dòng)作時(shí)間和加速度等。
控制系統(tǒng)可根據(jù)動(dòng)作的要求,設(shè)計(jì)采用數(shù)字順序控制。它首先要編制程序加以存儲(chǔ),然后再根據(jù)規(guī)定的程序,控制機(jī)械手進(jìn)行工作。 隨著科學(xué)技術(shù)的發(fā)展,機(jī)械手也越來(lái)越多的地被應(yīng)用。
2.氣動(dòng)機(jī)械手的國(guó)內(nèi)外研究現(xiàn)狀
目前國(guó)內(nèi)機(jī)械于主要用于機(jī)床加工、鑄鍛、熱處理等方面,數(shù)量、品種、性能方面都不能滿足工業(yè)生產(chǎn)發(fā)展的需要。所以,在國(guó)內(nèi)主要是逐步擴(kuò)大應(yīng)用范圍,重點(diǎn)發(fā)展鑄造、熱處理方面的機(jī)械手,以減輕勞動(dòng)強(qiáng)度,改善作業(yè)條件,在應(yīng)用專用機(jī)械手的同時(shí),相應(yīng)的發(fā)展通用機(jī)械手,有條件的還要研制示教式機(jī)械手、計(jì)算機(jī)控制機(jī)械手和組合機(jī)械手等。同時(shí)要提高速度,減少?zèng)_擊,正確定位,以便更好的發(fā)揮機(jī)械手的作用。此外還應(yīng)大力研究伺服型、記憶再現(xiàn)型,以及具有觸覺、視覺等性能的機(jī)械手,并考慮與計(jì)算機(jī)連用,逐步成為整個(gè)機(jī)械制造系統(tǒng)中的一個(gè)基本單元。
國(guó)外機(jī)械手在機(jī)械制造行業(yè)中應(yīng)用較多,發(fā)展也很快。目前主要用于機(jī)床、橫鍛壓力機(jī)的上下料,以及點(diǎn)焊、噴漆等作業(yè),它可按照事先指定的作業(yè)程序來(lái)完成規(guī)定的操作。國(guó)外機(jī)械手的發(fā)展趨勢(shì)是大力研制具有某種智能的機(jī)械手。使它具有一定的傳感能力,能反饋外界條件的變化,作相應(yīng)的變更。如位置發(fā)生稍許偏差時(shí),即能更正并自行檢測(cè),重點(diǎn)是研究視覺功能和觸覺功能。目前已經(jīng)取得一定成績(jī)。
從各國(guó)的行業(yè)統(tǒng)計(jì)資料來(lái)看,近30多年來(lái),氣動(dòng)行業(yè)發(fā)展很快。20世紀(jì)70年代,液壓與氣動(dòng)元件的產(chǎn)值比約為9:1,而30多年后的今天,在工業(yè)技術(shù)發(fā)達(dá)的歐美、日本等國(guó)家,該比例已達(dá)到6:4,甚至接近5:5。我國(guó)的氣動(dòng)行業(yè)起步較晚,但發(fā)展較快。從20世紀(jì)80年代中期開始,氣動(dòng)元件產(chǎn)值的年遞增率達(dá)20%以上,高于中國(guó)機(jī)械工業(yè)產(chǎn)值平均年遞增率。隨著微電子技術(shù)、PLC技術(shù)、計(jì)算機(jī)技術(shù)、傳感技術(shù)和現(xiàn)代控制技術(shù)的發(fā)展與應(yīng)用,氣動(dòng)技術(shù)已成為實(shí)現(xiàn)現(xiàn)代傳動(dòng)與控制的關(guān)鍵技術(shù)之一。
3.氣動(dòng)機(jī)械手的發(fā)展要求
氣動(dòng)技術(shù)是以空氣壓縮機(jī)為動(dòng)力源,以壓縮空氣為工作介質(zhì),進(jìn)行能量傳遞或信號(hào)傳遞的工程技術(shù),是實(shí)現(xiàn)各種生產(chǎn)控制、自動(dòng)控制的重要手段之一。在氣動(dòng)機(jī)械手的發(fā)展研究中有幾個(gè)主要的方向和要求。
3.1重復(fù)精度要求
精度是指機(jī)器人、機(jī)械手到達(dá)指定點(diǎn)的精確程度,它與驅(qū)動(dòng)器的分辨率以及反饋裝置有關(guān)。重復(fù)精度是指如果動(dòng)作重復(fù)多次,機(jī)械手到達(dá)同樣位置的精確程度。重復(fù)精度比精度更重要,如果一個(gè)機(jī)器人定位不夠精確,通常會(huì)顯示一個(gè)固定的誤差,這個(gè)誤差是可以預(yù)測(cè)的,因此可以通過(guò)編程予以校正。重復(fù)精度限定的是一個(gè)隨機(jī)誤差的范圍,它通過(guò)一定次數(shù)地重復(fù)運(yùn)行機(jī)器人來(lái)測(cè)定。隨著微電子技術(shù)和現(xiàn)代控制技術(shù)的發(fā)展,以及氣動(dòng)伺服技術(shù)走出實(shí)驗(yàn)室和氣動(dòng)伺服定位系統(tǒng)的成套化。氣動(dòng)機(jī)械手的重復(fù)精度將越來(lái)越高,它的應(yīng)用領(lǐng)域也將更廣闊,如核工業(yè)和軍事工業(yè)等。
3.2模塊化設(shè)計(jì)要求
有的公司把帶有系列導(dǎo)向驅(qū)動(dòng)裝置的氣動(dòng)機(jī)械手稱為簡(jiǎn)單的傳輸技術(shù),而把模塊化拼裝的氣動(dòng)機(jī)械手稱為現(xiàn)代傳輸技術(shù)。模塊化拼裝的氣動(dòng)機(jī)械手比組合導(dǎo)向驅(qū)動(dòng)裝置更具靈活的安裝體系。它集成電接口和帶電纜及氣管的導(dǎo)向系統(tǒng)裝置,使機(jī)械手運(yùn)動(dòng)自如。由于模塊化氣動(dòng)機(jī)械手的驅(qū)動(dòng)部件采用了特殊設(shè)計(jì)的滾珠軸承,使它具有高剛性、高強(qiáng)度及精確的導(dǎo)向精度。優(yōu)良的定位精度也是新一代氣動(dòng)機(jī)械手的一個(gè)重要特點(diǎn)。模塊化氣動(dòng)機(jī)械手使同一機(jī)械手可能由于應(yīng)用不同的模塊而具有不同的功能,擴(kuò)大了機(jī)械手的應(yīng)用范圍,是氣動(dòng)機(jī)械手的一個(gè)重要的發(fā)展方向。智能閥島的出現(xiàn)對(duì)提高模塊化氣動(dòng)機(jī)械手和氣動(dòng)機(jī)器人的性能起到了十分重要的支持作用。因?yàn)橹悄荛y島本來(lái)就是模塊化的設(shè)備,特別是緊湊型CP閥島,它對(duì)分散上的集中控制起了十分重要的作用,特別對(duì)機(jī)械手中的移動(dòng)模塊。
3.3無(wú)油化工作要求
為了適應(yīng)食品、醫(yī)藥、生物工程、電子、紡織、精密儀器等行業(yè)的無(wú)污染要求,不加潤(rùn)滑脂的不供油潤(rùn)滑元件已經(jīng)問世。隨著材料技術(shù)的進(jìn)步,新型材料(如燒結(jié)金屬石墨材料)的出現(xiàn),構(gòu)造特殊、用自潤(rùn)滑材料制造的無(wú)潤(rùn)滑元件,不僅節(jié)省潤(rùn)滑油、不污染環(huán)境,而且系統(tǒng)簡(jiǎn)單、摩擦性能穩(wěn)定、成本低、壽命長(zhǎng)。
3.4機(jī)電氣一體化要求
由“可編程序控制器-傳感器-氣動(dòng)元件”組成的典型的控制系統(tǒng)仍然是自動(dòng)化技術(shù)的重要方面;發(fā)展與電子技術(shù)相結(jié)合的自適應(yīng)控制氣動(dòng)元件,使氣動(dòng)技術(shù)從“開關(guān)控制”進(jìn)入到高精度的“反饋控制”;省配線的復(fù)合集成系統(tǒng),不僅減少配線、配管和元件,而且拆裝簡(jiǎn)單,大大提高了系統(tǒng)的可靠性。而今,電磁閥的線圈功率越來(lái)越小,而PLC的輸出功率在增大,由PLC直接控制線圈變得越來(lái)越可能。氣動(dòng)機(jī)械手、氣動(dòng)控制越來(lái)越離不開PLC,而閥島技術(shù)的發(fā)展,又使PLC在氣動(dòng)機(jī)械手、氣動(dòng)控制中變得更加得心應(yīng)手。
4.氣動(dòng)機(jī)械手的應(yīng)用現(xiàn)狀
氣動(dòng)機(jī)械手作為機(jī)械手的一種,它具有結(jié)構(gòu)簡(jiǎn)單、重量輕、動(dòng)作迅速、平穩(wěn)、可靠、節(jié)能和不污染環(huán)境等優(yōu)點(diǎn)而被廣泛應(yīng)用。由于氣壓傳動(dòng)系統(tǒng)使用安全、可靠,可以在高溫、震動(dòng)、易燃、易爆、多塵埃、強(qiáng)磁、輻射等惡劣環(huán)境下工作”’。而氣動(dòng)機(jī)械手作為機(jī)械手的一種,它具有結(jié)構(gòu)簡(jiǎn)單、重量輕、動(dòng)作迅速、平穩(wěn)、可靠、節(jié)能和不污染環(huán)境、容易實(shí)現(xiàn)無(wú)級(jí)調(diào)速、易實(shí)現(xiàn)過(guò)載保護(hù)、易實(shí)現(xiàn)復(fù)雜的動(dòng)作等優(yōu)點(diǎn)。所以,氣動(dòng)機(jī)械手被廣泛應(yīng)用于汽車制造業(yè)、半導(dǎo)體及家電行業(yè)、化肥和化工,食品和藥品的包裝、精密儀器和軍事工業(yè)等。
現(xiàn)代汽車制造工廠的生產(chǎn)線,尤其是主要工藝的焊接生產(chǎn)線,大多采用了氣動(dòng)機(jī)械手。車身在每個(gè)工序的移動(dòng);車身外殼被真空吸盤吸起和放下,在指定工位的夾緊和定位;點(diǎn)焊機(jī)焊頭的快速接近、減速軟著陸后的變壓控制點(diǎn)焊,都采用了各種特殊功能的氣動(dòng)機(jī)械手。高頻率的點(diǎn)焊、力控的準(zhǔn)確性及完成整個(gè)工序過(guò)程的高度自動(dòng)化,堪稱是最有代表性的氣動(dòng)機(jī)械手應(yīng)用之一。
在彩電、冰箱等家用電器產(chǎn)品的裝配生產(chǎn)線上,在半導(dǎo)體芯片、印刷電路等各種電子產(chǎn)品的裝配流水線上,不僅可以看到各種大小不一、形狀不同的氣缸、氣爪,還可以看到許多靈巧的真空吸盤將一般氣爪很難抓起的顯像管、紙箱等物品輕輕地吸住,運(yùn)送到指定目標(biāo)位置。對(duì)加速度限制十分嚴(yán)格的芯片搬運(yùn)系統(tǒng),采用了平穩(wěn)加速的SIN氣缸。
氣動(dòng)機(jī)械手用于對(duì)食品行業(yè)的粉狀、粒狀、塊狀物料的自動(dòng)計(jì)量包裝;用于煙草工業(yè)的自動(dòng)卷煙和自動(dòng)包裝等許多工序。如酒、油漆灌裝氣動(dòng)機(jī)械手;自動(dòng)加蓋、安裝和擰緊氣動(dòng)機(jī)械手,牛奶盒裝箱氣動(dòng)機(jī)械手等。
此外,氣動(dòng)系統(tǒng)、氣動(dòng)機(jī)械手被廣泛應(yīng)用于制藥與醫(yī)療器械上。如:氣動(dòng)自動(dòng)調(diào)節(jié)病床,Robodoc機(jī)器人,da?Vinci外科手術(shù)機(jī)器人等。
運(yùn)用中存在的問題:
1.氣動(dòng)機(jī)械手以壓縮空氣為動(dòng)力,其工作速度的穩(wěn)定性較差,結(jié)構(gòu)剛度也不強(qiáng),響應(yīng)速度也受影響;
2.氣動(dòng)機(jī)械手因?yàn)榭諝獾目蓧嚎s性,定位精度較難保證,難以準(zhǔn)確控制;
3.氣動(dòng)元件在工作過(guò)程中的噪音較大,并且難以消除;
4.氣動(dòng)機(jī)械手的效率不高;
5.其他氣動(dòng)元件常見問題。
結(jié)束語(yǔ)
氣動(dòng)技術(shù)經(jīng)歷了一個(gè)漫長(zhǎng)的發(fā)展過(guò)程,隨著氣動(dòng)伺服技術(shù)走出實(shí)驗(yàn)室,氣動(dòng)技術(shù)及氣動(dòng)機(jī)械手迎來(lái)了嶄新的春天。目前在世界上日本、美國(guó)和歐盟氣動(dòng)技術(shù)、氣動(dòng)機(jī)械手方面最為領(lǐng)先。我國(guó)對(duì)氣動(dòng)技術(shù)和氣動(dòng)機(jī)械手的研究與應(yīng)用都比較晚,但隨著投入力度和研發(fā)力度的加大,我國(guó)自主研制的許多氣動(dòng)機(jī)械手已經(jīng)在汽車等行業(yè)為國(guó)家的發(fā)展進(jìn)步發(fā)揮著重要作用。隨著微電子技術(shù)的迅速發(fā)展和機(jī)械加工工藝水平的提高及現(xiàn)代控制理論的應(yīng)用,為研究高性能的氣動(dòng)機(jī)械手奠定了堅(jiān)實(shí)的物質(zhì)技術(shù)基礎(chǔ)。由于氣動(dòng)機(jī)械手有結(jié)構(gòu)簡(jiǎn)單、易實(shí)現(xiàn)無(wú)級(jí)調(diào)速、易實(shí)現(xiàn)過(guò)載保護(hù)、易實(shí)現(xiàn)復(fù)雜的動(dòng)作等諸多獨(dú)特的優(yōu)點(diǎn),氣動(dòng)機(jī)械手將越來(lái)越廣泛地進(jìn)人工業(yè)、軍事、航空、醫(yī)療、生活等領(lǐng)域。
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畢業(yè)設(shè)計(jì)
文獻(xiàn)綜述
院(系)名稱
工學(xué)院機(jī)械系
專業(yè)名稱
機(jī)械設(shè)計(jì)制造及其自動(dòng)化
學(xué)生姓名
指導(dǎo)教師
2012年2月20日
黃河科技學(xué)院畢業(yè)設(shè)計(jì)(文獻(xiàn)翻譯) 第 11 頁(yè)
外文資料翻譯譯文:
機(jī)械手
出自《Manufacturing Engineering and Technology—Machining》
機(jī)械手是近幾十年發(fā)展起來(lái)的一種高科技自動(dòng)化生產(chǎn)設(shè)備。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(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, 易受車體振動(dòng)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(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,是一門跨學(xué)科綜合技術(shù)。
一、 工業(yè)機(jī)械手的概述
機(jī)械手是一種能自動(dòng)化定位控制并可重新編程序以變動(dòng)的多功能機(jī)器,它有多個(gè)自由度,可用來(lái)搬運(yùn)物體以完成在各個(gè)不同環(huán)境中工作。在工資水平較低的中國(guó),塑料制品行業(yè)盡管仍屬于勞動(dòng)力密集型,機(jī)械手的使用已經(jīng)越來(lái)越普及。那些電子和汽車業(yè)的歐美跨國(guó)公司很早就在它們?cè)O(shè)在中國(guó)的工廠中引進(jìn)了自動(dòng)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(guó)本土塑料加工廠也開始對(duì)機(jī)械手表現(xiàn)出越來(lái)越濃厚的興趣,因?yàn)樗麄円鎸?duì)工人流失率高,以及為工人交工傷費(fèi)帶來(lái)的挑戰(zhàn)。
隨著我國(guó)工業(yè)生產(chǎn)的飛躍發(fā)展,特別是改革開發(fā)以后,自動(dòng)化程度的迅速提高,實(shí)現(xiàn)工件的裝卸、轉(zhuǎn)向、輸送或操作釬焊、噴槍、扳手等工具進(jìn)行加工、裝配等作業(yè)自化,已愈來(lái)愈引起我們重視。
機(jī)械手是模仿著人手的部分動(dòng)作,按給定的程序、軌跡和要求實(shí)現(xiàn)自動(dòng)抓取、搬運(yùn)或操作的自動(dòng)機(jī)械裝置。
在現(xiàn)實(shí)生活中,你是否會(huì)發(fā)現(xiàn)這樣一個(gè)問題。在機(jī)械工廠里,加工零件裝料的時(shí)候是不是很煩的,勞動(dòng)生產(chǎn)率不高,生產(chǎn)成本大,有時(shí)候還會(huì)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(lái)代替呢,加工的時(shí)候只要有幾個(gè)人巡視一下,且可以二十四個(gè)小時(shí)飽和運(yùn)作,人行嗎?回答是肯定的,但是機(jī)械手可以來(lái)代替它。
生產(chǎn)中應(yīng)用機(jī)械手可以提高生產(chǎn)的自動(dòng)化水平和勞動(dòng)生產(chǎn)率;可以減輕勞動(dòng)強(qiáng)度、保證產(chǎn)品質(zhì)量、實(shí)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(jìn)行正常的工作。想到這里我就很想設(shè)計(jì)一個(gè)機(jī)械手,來(lái)用于生產(chǎn)實(shí)際中。
為什么選著設(shè)計(jì)機(jī)械手用氣動(dòng)來(lái)提供動(dòng)力:氣動(dòng)機(jī)械手是指以壓縮空氣為動(dòng)力源驅(qū)動(dòng)的機(jī)械手。用氣壓驅(qū)動(dòng)與其他能源驅(qū)動(dòng)比較有以下優(yōu)點(diǎn):1.空氣取之不竭,用過(guò)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(yuǎn)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(duì)動(dòng)元件的材質(zhì)和制造精度要求可以降低。4.與液壓傳動(dòng)相比,它的動(dòng)作和反應(yīng)都快,這是氣動(dòng)突出的優(yōu)點(diǎn)之一。5.空氣介質(zhì)清潔,亦不會(huì)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(dòng)工作的穩(wěn)定性差,因而造成執(zhí)行機(jī)構(gòu)運(yùn)動(dòng)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(gè)氣動(dòng)系統(tǒng)的結(jié)構(gòu)尺寸加大。
用氣壓驅(qū)動(dòng)與用其他能源驅(qū)動(dòng)比較有以下優(yōu)點(diǎn):
空氣取之不竭,用過(guò)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(duì)生產(chǎn)發(fā)生嚴(yán)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(yuǎn)距離輸送。
壓縮空氣的工作壓力較低,因此對(duì)氣動(dòng)元件的材質(zhì)和制造精度要求可以降低。一般說(shuō)來(lái),往復(fù)運(yùn)動(dòng)推力在1~2噸以下采用氣動(dòng)經(jīng)濟(jì)性較好。
與液壓傳動(dòng)相比,它的動(dòng)作和反應(yīng)都快,這是氣動(dòng)的突出優(yōu)點(diǎn)之一。
空氣介質(zhì)清潔,亦不會(huì)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(chǎng)合。又便于實(shí)現(xiàn)過(guò)載自動(dòng)保護(hù).
二﹑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)夾緊和松開工件,與人的手指相仿,能完成人手的類似動(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(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。
三﹑ 機(jī)械手的分類和特點(diǎn)
機(jī)械手一般分為三類:第一類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。第二類是需要人工才做的,稱為操作機(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)中采用的鍛造操作機(jī)也屬于這一范疇。第三類是用專用機(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,因此是專用的。
主要特點(diǎn):
(1) 機(jī)械手(上下料機(jī)械手、裝配機(jī)械手、搬運(yùn)機(jī)械手、堆垛機(jī)械手、助力機(jī)械手、真空搬運(yùn)機(jī)、 真空吸吊機(jī)、省力吊具、氣動(dòng)平衡器等)。
(2) 懸臂起重機(jī)(懸臂吊、電動(dòng)環(huán)鏈葫蘆吊、氣動(dòng)平衡吊等)
(3) 導(dǎo)軌式搬運(yùn)系統(tǒng)(懸掛軌道、輕型軌道、單梁起重機(jī)、雙梁起重機(jī))
(4) 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的重視,并越來(lái)越廣泛地得到了應(yīng)用,例如:
(1) 機(jī)床加工工件的裝卸,特別是在自動(dòng)化車床、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) 可在危險(xiǎn)場(chǎng)合下工作,如軍工品的裝卸、危險(xiǎn)品及有害物的搬運(yùn)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(yàn)。
助力機(jī)械手:又稱平衡器、平衡吊、省力吊具、手動(dòng)移載機(jī)等,是一種無(wú)重力化手動(dòng)承載系統(tǒng),一種新穎的、用于物料搬運(yùn)時(shí)省力化操作的助力設(shè)備,屬于一種非標(biāo)設(shè)計(jì)的系列化產(chǎn)品。針對(duì)客戶應(yīng)用需求,量身定制的個(gè)案創(chuàng)作。
一種模擬人手操作的自動(dòng)機(jī)械,它可按固定程序抓取﹑搬運(yùn)物件或操持工具完成某些特定操作。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,首先采用機(jī)械手搬運(yùn)放射性材料,人在安全室操縱機(jī)械手進(jìn)行各種操作和實(shí)驗(yàn)。50年代以后,機(jī)械手逐步推廣到工業(yè)生產(chǎn)部門,用于在高溫﹑污染嚴(yán)重的地方取放工件和裝卸材料,也作為機(jī)床的輔助裝置在自動(dòng)機(jī)床﹑自動(dòng)生產(chǎn)線和加工中心中應(yīng)用,完成上下料或從刀庫(kù)中取放刀具并按固定程序更換刀具等操作。機(jī)械手主要由手部機(jī)構(gòu)和運(yùn)動(dòng)機(jī)構(gòu)組成。手部機(jī)構(gòu)隨使用場(chǎng)合和操作對(duì)象而不同,常見的有夾持﹑托持和吸附等類型。運(yùn)動(dòng)機(jī)構(gòu)一般由液壓﹑氣動(dòng)﹑電氣裝置驅(qū)動(dòng)。機(jī)械手可獨(dú)立地實(shí)現(xiàn)伸縮﹑旋轉(zhuǎn)和昇降等運(yùn)動(dòng),一般有2~3個(gè)自由度。機(jī)械手廣泛用于機(jī)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(dòng)作功能,用以按固定程序抓取、搬運(yùn)物件或操作工具的自動(dòng)操作裝置。它可代替人的繁重勞動(dòng)以實(shí)現(xiàn)生產(chǎn)的機(jī)械化和自動(dòng)化,能在有害環(huán)境下操作以保護(hù)人身安全,因而廣泛應(yīng)用于機(jī)械制造、冶金、電子、輕工和原子能等部門。 機(jī)械手通常用作機(jī)床或其他機(jī)器的附加裝置,如在自動(dòng)機(jī)床或自動(dòng)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(dú)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(xiǎn)物品的主從式操作手也常稱為機(jī)械手。
機(jī)械手主要由手部和運(yùn)動(dòng)機(jī)構(gòu)組成。手部是用來(lái)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(yùn)動(dòng)機(jī)構(gòu),使手部完成各種轉(zhuǎn)動(dòng)(擺動(dòng))、移動(dòng)或復(fù)合運(yùn)動(dòng)來(lái)實(shí)現(xiàn)規(guī)定的動(dòng)作,改變被抓持物件的位置和姿勢(shì)......
機(jī)械手是在自動(dòng)化生產(chǎn)過(guò)程中使用的一種具有抓取和移動(dòng)工件功能的自動(dòng)化裝置,它是在機(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)械手能代替人類完成危險(xiǎn)、重復(fù)枯燥的工作,減輕人類勞動(dòng)強(qiáng)度,提高勞動(dòng)生產(chǎn)力。機(jī)械手越來(lái)越廣泛的得到了應(yīng)用,在機(jī)械行業(yè)中它可用于零部件組裝 ,加工工件的搬運(yùn)、裝卸,特別是在自動(dòng)化數(shù)控機(jī)床、組合機(jī)床上使用更普遍。目前,機(jī)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(gè)重要組成部分。把機(jī)床設(shè)備和機(jī)械手共同構(gòu)成一個(gè)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(qiáng)。當(dāng)工件變更時(shí),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(duì)路的品種,提高產(chǎn)品質(zhì)量,更好地適應(yīng)市場(chǎng)競(jìng)爭(zhēng)的需要。而目前我國(guó)的工業(yè)機(jī)器人技術(shù)及其工程應(yīng)用的水平和國(guó)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(jī)械手的研究和開發(fā)直接影響到我國(guó)自動(dòng)化生產(chǎn)水平的提高,從經(jīng)濟(jì)上、技術(shù)上考慮都是十分必要的。因此,進(jìn)行機(jī)械手的研究設(shè)計(jì)是非常有意義的。
外文資料原文:?
Manipulator
From《Manufacturing Engineering and Technology—Machining》
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.
Viscosity of air is small, the pipeline pressure loss also is very small, easy long-distance transport.
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)
Fourth, 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. Manipulator can be achieved independently retractable ﹑ rotation and lifting movements, generally 2 to 3 degrees of freedom. Robots are widely used in metallurgical industry, machinery manufacture, light industry and atomic energy sectors.
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.
Manipulator mainly by hand and sports institutions. 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
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