無錫職業(yè)技術(shù)學(xué)院畢業(yè)設(shè)計1套類零件自動上下料機(jī)構(gòu)工業(yè)機(jī)械手是人類創(chuàng)造的一種機(jī)器,更是人類創(chuàng)造的一項偉大奇跡,其研究、開發(fā)和設(shè)計是從二十世紀(jì)中葉開始的.我國的工業(yè)機(jī)械手是從 80 年代“七五“ 科技攻關(guān)開始起步,在國家的支持下,通過“七五“,“ 八五“ 科技攻關(guān),目前已經(jīng)基本掌握了機(jī)械手操作機(jī)的設(shè)計制造技術(shù),控制系統(tǒng)硬件和軟件設(shè)計技術(shù),運(yùn)動學(xué)和軌跡規(guī)劃技術(shù),生產(chǎn)了部分機(jī)器人關(guān)鍵元器件，開發(fā)出噴漆，孤焊，點(diǎn)焊，裝配，搬運(yùn)等機(jī)器人，其中有 130 多臺噴漆機(jī)器人在二十余家企業(yè)的近 30 條自動噴漆生產(chǎn)線（站）上獲得規(guī)模應(yīng)用，孤焊機(jī)器人已經(jīng)應(yīng)用在汽車制造廠的焊裝線上。但總的看來，我國的工業(yè)機(jī)械手技術(shù)及其工程應(yīng)用的水平和國外比還有一定距離。如：可靠性低于國外產(chǎn)品，機(jī)械手應(yīng)用工程起步較晚，應(yīng)用領(lǐng)域窄，生產(chǎn)線系統(tǒng)技術(shù)與國外比有差距。影響我國機(jī)械手發(fā)展的關(guān)鍵平臺因素就是其軟件，硬件和機(jī)械結(jié)構(gòu)。目前工業(yè)機(jī)械手仍大量應(yīng)用在制造業(yè)，其中汽車工業(yè)占第一位（占 28.9%） ，電器制造業(yè)第二位（占 16.4%） ，化工第三位（占 11.7%） 。發(fā)達(dá)國家汽車行業(yè)機(jī)械手應(yīng)用占總保有量百分比為 23.4%～53%，年產(chǎn)每萬輛汽車所擁有的機(jī)械手?jǐn)?shù)為（包括整車和零部件）：日本 88.0 臺，德國 64.0 臺，法國32.2 臺，英國 26.9 臺，美國 33.8 臺，意大利 48.0 臺。世界工業(yè)機(jī)械手的數(shù)目雖然每年在遞增，但市場是波浪式向前發(fā)展的。在新世紀(jì)的曙光下人們追求更舒適的工作條件，惡劣危險的勞動環(huán)境都需要用機(jī)器人代替人工。隨著機(jī)器人應(yīng)用的深化和滲透，工業(yè)機(jī)械手在汽車行業(yè)中還在不斷開辟著新用途。機(jī)械手的發(fā)展也已經(jīng)由最初的液壓，氣壓控制開始向人工智能化轉(zhuǎn)變，并且隨著電子技術(shù)的發(fā)展和科技的不斷進(jìn)步，這項技術(shù)將日益完善。無錫職業(yè)技術(shù)學(xué)院畢業(yè)設(shè)計2上料機(jī)械手與卸料機(jī)械手相比，其中上料機(jī)械手中的移動式搬運(yùn)上料機(jī)械手適用于各種棒料，工件的自動搬運(yùn)及上下料工作。例如鋁型材擠壓成型鋁棒料的搬運(yùn)及高溫材料的自動上料作業(yè)，最大抓取棒料直徑達(dá) 180mm，最大抓握重量可達(dá) 30 公斤，最大行走距離為 1200mm。根據(jù)作業(yè)要求及載荷情況，機(jī)械手各關(guān)節(jié)運(yùn)動速度可調(diào)。移動式搬運(yùn)上料機(jī)械手主要由手爪，小臂，大臂，手臂回轉(zhuǎn)機(jī)構(gòu)，小車行走機(jī)構(gòu)，液壓泵站電器控制系統(tǒng)組成，同時具有高溫棒料啟動疏料裝置及用于安全防護(hù)用的光電保護(hù)系統(tǒng)。整個機(jī)械手及液壓系統(tǒng)均集中設(shè)置在行走小車上，結(jié)構(gòu)緊湊。電氣控制系統(tǒng)采用 OMRON 可編程控制器，各種作業(yè)的實(shí)現(xiàn)可以通過編程實(shí)現(xiàn)。國內(nèi)外實(shí)際使用的多是定位控制的機(jī)械手，沒有“視覺”和“觸覺”反饋。目前，世界各國正積極研制帶有“視覺”和“觸覺”的工業(yè)機(jī)械手，使它能夠?qū)λト〉墓ぜM(jìn)行分辨，能選取所需要的工件，并正確的夾持工件，進(jìn)而精確地在機(jī)器上定位、定向。為使機(jī)械手有“眼睛”去處理方位變化的工件和分辨形狀不同的零部件，它由視覺傳感器輸入三個視圖方向的視覺信息，通過計算機(jī)進(jìn)行圖形分辨，判別是否是所要抓取的工件。翻譯Sets of body parts automatic loading and unloadingIndustrial robot is a machine created by human beings, it is a great miracle of human creation, its research, development and design from the 無錫職業(yè)技術(shù)學(xué)院畢業(yè)設(shè)計3mid-twentieth century began. China's industrial robot from the 80's “Plan“ scientific and technological start started, in support of the state, through the “Plan“, “August 5“ technological breakthroughs, has been basically mastered the robot manipulator design and manufacturing technology, control system hardware and software design, kinematics and trajectory planning techniques, production The key components of some robot, developed painting, arc welding, spot welding, assembly, handling and other robots, including more than 130 painting robot business in more than 20 nearly 30 automatic painting production line (station) on get large-scale application, arc welding robots have been used in automotive welding factory online. But on the whole, China's industrial robot technology and its application level and foreign than a certain distance. Such as: reliability, lower than the foreign products, application engineering manipulator late start, applications and narrow line system technology gap with foreign countries than there is. Affect the development of China's key platform manipulator element is its software, hardware and mechanical structure. Current industrial robots are still a large number of applications in manufacturing, which accounts for the first auto industry (28.9%), the electrical industry the second largest (16.4%), chemical third (11.7%). Application of the automotive industry developed manipulator percentage of the total holdings of 23.4% to 53%, annual per million vehicles owned by the robot number (including vehicles and spare parts): Japan 88.0 Taiwan, Taiwan, Germany 64.0, France 32.2 Taiwan , United Kingdom 26.9 無錫職業(yè)技術(shù)學(xué)院畢業(yè)設(shè)計4Taiwan 33.8 United States, Taiwan, Italy 48.0 units. World industrial robot numbers although the annual increase, but the market is the wave-forward. In the new century, the dawn of the next people to pursue a more comfortable working conditions, poor or dangerous working environments need to use robots instead of manual. With the deepening of the robot application and penetration of the industrial robot in the automotive industry also continued to open up a new use. The development of robot has been from the initial hydraulic, pneumatic control began to transition to artificial intelligence, and with the development of electronic technology and scientific advances in this technology will ever improve. Loading and unloading robot manipulator than the material of which the mobile manipulator robot moving on the material applicable to various bar, automatic workpiece handling and loading and unloading work. For example, extruded aluminum rod material handling and automatic feeding high-temperature materials, operations, maximum diameter grab bar 180mm, maximum grip weight of up to 30 kg, maximum travel distance of 1200mm. Depending on your operating requirements and load conditions, the mechanical manipulator joint motion speed. Mobile robot moving on the material mainly by the paw, forearm, upper arm, the arm rotating bodies, trolley travel agencies, hydraulic pump station electrical control system components, but also has high bar starts thinning feeding device and used for optical security protection system. The manipulator and hydraulic systems are 無錫職業(yè)技術(shù)學(xué)院畢業(yè)設(shè)計5focused on setting the car in running a small, compact structure. Electric control system adopts OMRON PLC, to achieve a variety of operations can be programmed. Actual use of foreign multi-position control is a mechanical hand, there is no “visual“ and “tactile“ feedback. Currently, the world is actively developing with a “visual“ and “touch“ the industrial robot, it can be resolved by the capture of the workpiece can select the required parts, and the right clamp the workpiece, and accurately in machine position and orientation. To manipulator of “eyes“ to deal with orientation changes the shape of the workpiece and identify the different components, which consists of three views of visual direction sensor input visual information, through computer graphics resolution, determine whether the workpiece to crawl.