机械手外文文献及翻译

English

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

work

piece

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 cannot 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 of mechanical hand

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

cannot wrist. Pillars used to support the arm can also be made mobile as

needed.

2. Transmission The actuator

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 work piece

material and delivery. This mechanical hand in foreign countries known

as

the

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) machinery,

Four,

Application

and

development

of

industrial

manipulator

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

work

piece

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

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

retractab le

﹑

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