四自由度搬运机械手的设计与运动仿真【含NX三维及CAD总装图】
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四自由度搬运机械手的设计与运动仿真【含NX三维及CAD总装图】
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充值购买-下载设计文档后，加 Q-1459919609 免费领取图纸I四自由度搬运机械手的设计与运动仿真摘要在机械制造业中，机械手已被广泛应用，改善了工人的劳动环境，显著地加快了生产节奏，提高了劳动生产率，工业生产的机械化和自动化程度得到了提高。本文先对机械手的国内外研究现状以及搬运机械手的应用背景和需求分析进行分析，对本课题任务进行了四自由度搬运机械手的总体方案设计。首先，确定了搬运机械手的自由度为四自由度；其次，本文设计了四自由度搬运机械手的夹持式手部结构、手臂结构、机身、机座、驱动系统等部分，实现了四自由度搬运机械手的水平回转，轴向移动，竖直升降，手部的旋转四个自由度及手爪的开合。本文通过针对四自由度搬运机械手的整体设计，设计出了一种具有模块化、高可靠性物料的搬运机械手，对其他经济型搬运机械手的设计也有一定的借鉴作用。关键词：四自由度；机械手；气动驱动；运动学仿真充值购买-下载设计文档后，加 Q-1459919609 免费领取图纸IIAbstractIn machinery manufacturing, robots have been widely used to improve workers labor environment, significantly speed up production, increase labor productivity, and increase the degree of mechanization and automation of industrial production.This paper first analyzes the research status of manipulators both at home and abroad, as well as the application background and demand analysis of the handling robots. The overall program design of the four-degree-of-freedom transport manipulator is performed on the tasks of this project. Firstly, the degree of freedom of the handling robot is determined to be four degrees of freedom. Secondly, this paper designs the gripping hand structure, arm structure, fuselage, frame and drive system of the four-degree-of-freedom handling robot and realizes four freedoms. Degree of rotation of the handling robot, axial movement, vertical lifting, four degrees of rotation of the hand and the opening and closing of the hand. In this paper, by designing the overall design of a four-degree-of-freedom handling robot, a handling robot with a modular, high-reliability material is designed, which also has a certain reference for the design of other economical handling robots.Keywords: four degrees of freedom; manipulator; pneumatic drive; kinematics simulation充值购买-下载设计文档后，加 Q-1459919609 免费领取图纸III目录第 1 章 绪论 .11.1 选题背景及研究意义 .11.2 机械手概述 .11.3 国内外发展现状 .21.3.1 国外机械手发展现状 .21.3.2 国内机械手发展现状 .21.4 课题的主要研究内容 .3第 2 章 四自由度搬运机械手的总体方案设计 .42.1 工作原理 .42.2 基本参数要求 .42.2.1 基本参数的确定 .42.2.2 设计要求 .52.3 整体方案 .52.4 小结 .6第 3 章 四自由度搬运机械手的机械结构设计 .73.1 底座的设计 .73.2 手部的设计 .73.2.1 机械手手部结构的计算 .73.2.2 竖直升降模块的设计 .83.2.3 水平伸缩模块的设计 .93.3 腕部的设计 .103.3.1 概述 .103.3.2 手腕驱动力矩的确定 .103.4 臂部的设计 .123.4.1 手臂运动机构的选择 .123.4.2 手臂偏重力矩的确定 .123.5 小结 .13第 4 章 四自由度机械手驱动系统设计 .144.1 气动元件的选用 .14充值购买-下载设计文档后，加 Q-1459919609 免费领取图纸IV4.2 气动系统中各控制和辅助元件的选用 .154.2.1 方向控制阀的选用 .154.2.2 流量控制阀的选用 .164.2.3 压力控制阀的选用 .164.3 液压模块计算 .164.3.1 液压缸活塞的驱动力的计算 .164.3.2 液压缸的结构尺寸 .194.4 活塞杆的设计 .214.4.1 活塞杆的计算 .214.4.2 活塞杆的稳定性校核 .214.5 手臂旋转设计 .234.6 手臂升降设计 .254.6.1 臂部做升降运动时油缸的相关计算 .264.6.2 油缸内径的计算 .264.6.3 油缸壁厚 的计算 .274.6.4 活塞杆的计算 .284.7 小结 .29第 5 章 四自由度机械手液压系统设计 .305.1 机械手液压缸的受力情况 .305.1.1 大臂升降缸的受力情况 .305.1.2 手爪夹紧缸的受力情况 .305.1.3 手臂伸缩缸的受力情况 .305.2 液压元件的选择 .305.3 液压系统原理图 .315.4 小结 .31第 6 章结论 .33致谢 .34参考文献 .35附录 .36充值购买-下载设计文档后，加 Q-1459919609 免费领取图纸5第 1 章 绪论1.1 选题背景及研究意义机械手的研制，加快了世界科技发展的进程；机械手的诞生，是工业制造史上的重大突破，提高了工业制造生产的水平。在这样的背景下，制造业里面的机械手发展的很是迅速，并且有着十分广泛的应用范围。机械手的动作都是设计好的，主要通过程序来控制机械手去完成规定制定的行为动作，它主要用于枯燥重复的流水线工作的完成，特别在一些高温、危险的环境里，去完成对人来说有困难的工作。虽然目前的机械手是比较成熟的，但是由于机械手的制造成本昂贵，因此目前仅应用于航天航空等高端领域。所以制造成本低、可以满足低端领域使用的四自由度搬运机械手的设计就刻不容缓了。一旦这种新型机械手问世，人类不仅会从传统的手工加工方式中解脱出来，还能让人类的生产率得到大幅的提高，进而改善人类的工作环境，从而让人类的生活变得越来越美好。这种机械手主要功能是代替人去完成繁重而单调的重物搬运和物品分拣工作 1。机械手的研制不仅有利于生产的机械化和自动化程度的提高，还可以减少人力的浪费，加快生产的节奏，因此对这种机械手的进一步研制就显得尤为重要。1.2 机械手概述本课题研究设计搬运机械手的自由度个数是四个。四自由度机械手的运动原理基本相同，但是由于使用领域的不同，所以其结构的设计还是有很大的区别。虽然结构上有些差异，但是机械手的设计主要是设计机械手的控制系统还有驱动系统和传动执行机构这三方面。只有这三方面设计的合理，机械手才能正常运行。1.3 国内外发展现状1.3.1 国外机械手发展现状世界上第一台机械手是 1958 年美国联合公司发明出来的，控制系统是简单充值购买-下载设计文档后，加 Q-1459919609 免费领取图纸6的示教型的。后来科学家在此基础上进行了改造，设计出了第二代机械手，对新一代的机械手设计了更多的新功能，实用性也增加了不少。随后的时间里，美国机械铸造公司、Unimate 公司等公司对机械手的研发都很热情，研究出了具有更多功能的机械手。日本从 1969 年在美国进口了一批机械手后，充分发挥了其学习模仿的能力，经过对机械手的研究，日本工业迅速崛起，尤其是汽车行业的迅速发展，成就了“工业发展最迅速”的神话。现在国外对机械手的研发已经很先进了，已经开始从触觉和视觉方面去研制新型的机械手了。这样的机械手能够感应外界实物，不仅能够听到外界的声音，还能够看到外界的视野，这样高端的功能是非常厉害的。目前国外工业机械手的发展方向是柔性制造系统的一整条生产线的全自动化生产。图 1.1 美国早期机械手图 图 1.2 日本机械手图1.3.2 国内机械手发展现状在上个世纪八十年代，国内才开始对机械手进行研究，足足比发达国家对机械手的研究要晚了几十年。我国的第一台机械手是在上海被研发成功的，随后其他城市对机械手的研究才开始进行。随着经济改革开放，国家对机械手的研究力度提高了，并且投入了大量的科研人员和大量资金。图 1.3 国内机械手图充值购买-下载设计文档后，加 Q-1459919609 免费领取图纸7现在我国研发的机械手主要还是用在工业方面，在其他领域的研发进境不是太好。虽然我国的机械手运用在了工业方面，但是自主研发的机械手因为产量少，且达不到一些精密仪器生产的要求。一些高精度加工还是引进国外淘汰的机械手，引进机械手的成本较高，所以我国能用得起机械手的工业企业还是很少的。1.4 课题的主要研究内容机械手主要是用在工业制造生产上，对物品做流水线式的搬运工作。对于机械手的功能要求并不多，主要完成大的工作是实现物体的来回搬运。本文机械手设计的研究内容如下：（1）机械手的工作原理机械手的定位；机械手的旋转动作和抓取动作；机械手的复位功能。（2）机械手的机械结构模块设计机械手的结构设计包括机械手底座、手部、腕部、臂部的设计。（3）机械手的驱动系统模块设计机械手的驱动模块设计包括气动和液压两部分。（4）机械手的液压系统模块设计机械手的液压模块设计包括机械手工作时液压缸的受力情况、液压元件的选取和机械手工作时的液压原理图的设计。充值购买-下载设计文档后，加 Q-1459919609 免费领取图纸8第 2 章 四自由度搬运机械手的总体方案设计2.1 工作原理四自由度搬运机械手的工作原理是仿造人类手臂关节的活动结构，来实现各种复杂动作的运动的，一般机械手都运用在环境恶劣、流水线或者是危险性的工作环境下。本文设计的这种四自由度搬运机械手主要功能是搬运，具体来说就是把一个地方的物品搬运到固定位置上去，这样的自动化设备可以有效减轻劳动力。本文设计的这种四自由度搬运机械手运用在流水工作线上 2，所以对四自由度搬运机械手的活动顺序和对时间的掌控都有比较高的要求了。四自由度搬运机械手在搬运物体时，要保证机械手能平稳，快速，精准的运行。机械手原理图如图2.1 所示。图 2.1 机械手的结构简图2.2 基本参数要求2.2.1 基本参数的确定机械手的设计主要包括结构、功能和各种驱动及动力系统的设计，机械手的基本参数的确定应该是机械手的第一步。本文设计机械手的基本参数如下表所示3。充值购买-下载设计文档后，加 Q-1459919609 免费领取图纸9表 2-1 机械手工作过程中的主要参数2.2.2 设计要求本课题设计的搬运机械手，要求由四个方向的运动，分别是手臂可以旋转，还有手臂能够绕着轴来摆动，最后是手臂可以夹紧松开，达到加持物品的效果。机械手的工作过程可分为：1）机械手运动的实现是利用电机传递的动力，带动传动轴、齿轮运动，进一步带动机械手的运动；2）手部的运动的实现是靠凸轮驱动摆杆，进而带动齿轮转动，最后经过内部机构的带动；3）利用凸轮的运动原理，使圆通实现移动，进而带动手臂进行摆动；4）转盘的往复回转的实现是通过圆柱凸轮带动齿条、齿轮转动完成的。2.3 整体方案在设计机械手的结构时候，要对实际的工作环境还有使用情况详细分析，然充值购买-下载设计文档后，加 Q-1459919609 免费领取图纸10后根据情况来设计能够符合要求的机械手才行。机械手的设计需要满足的条件：要留足机械手的工作空间，并且设计的机械手应能够以多种运动形式完成不同要求的工作。机械手的结构设计，应该在满足机械手具体的工作环境和要求的前提下，通过对人的手臂功能的模仿学习之后，进行机械手的具体结构、机械手的姿态和运动方式的设计 4。图 2.2 机械手实物图图中 1机座，2液压缸，3旋转关节，4手臂，5手爪，6法兰盘 7手杆。2.4 小结本章对四自由度搬运机械手的工作原理进行了详细的描述，确定了机械手的基本参数和设计要求，明确了机械手的整体设计方案。I四自由度搬运机械手的设计与运动仿真摘要在机械制造业中，机械手已被广泛应用，改善了工人的劳动环境，显著地加快了生产节奏，提高了劳动生产率，工业生产的机械化和自动化程度得到了提高。本文先对机械手的国内外研究现状以及搬运机械手的应用背景和需求分析进行分析，对本课题任务进行了四自由度搬运机械手的总体方案设计。首先，确定了搬运机械手的自由度为四自由度；其次，本文设计了四自由度搬运机械手的夹持式手部结构、手臂结构、机身、机座、驱动系统等部分，实现了四自由度搬运机械手的水平回转，轴向移动，竖直升降，手部的旋转四个自由度及手爪的开合。本文通过针对四自由度搬运机械手的整体设计，设计出了一种具有模块化、高可靠性物料的搬运机械手，对其他经济型搬运机械手的设计也有一定的借鉴作用。关键词：四自由度；机械手；气动驱动；运动学仿真IIAbstractIn machinery manufacturing, robots have been widely used to improve workers labor environment, significantly speed up production, increase labor productivity, and increase the degree of mechanization and automation of industrial production.This paper first analyzes the research status of manipulators both at home and abroad, as well as the application background and demand analysis of the handling robots. The overall program design of the four-degree-of-freedom transport manipulator is performed on the tasks of this project. Firstly, the degree of freedom of the handling robot is determined to be four degrees of freedom. Secondly, this paper designs the gripping hand structure, arm structure, fuselage, frame and drive system of the four-degree-of-freedom handling robot and realizes four freedoms. Degree of rotation of the handling robot, axial movement, vertical lifting, four degrees of rotation of the hand and the opening and closing of the hand. In this paper, by designing the overall design of a four-degree-of-freedom handling robot, a handling robot with a modular, high-reliability material is designed, which also has a certain reference for the design of other economical handling robots.Keywords: four degrees of freedom; manipulator; pneumatic drive; kinematics simulationIII目录第 1 章 绪论 .11.1 选题背景及研究意义 .11.2 机械手概述 .11.3 国内外发展现状 .21.3.1 国外机械手发展现状 .21.3.2 国内机械手发展现状 .21.4 课题的主要研究内容 .3第 2 章 四自由度搬运机械手的总体方案设计 .42.1 工作原理 .42.2 基本参数要求 .42.2.1 基本参数的确定 .42.2.2 设计要求 .52.3 整体方案 .52.4 小结 .6第 3 章 四自由度搬运机械手的机械结构设计 .73.1 底座的设计 .73.2 手部的设计 .73.2.1 机械手手部结构的计算 .73.2.2 竖直升降模块的设计 .8IV3.2.3 水平伸缩模块的设计 .93.3 腕部的设计 .103.3.1 概述 .103.3.2 手腕驱动力矩的确定 .103.4 臂部的设计 .123.4.1 手臂运动机构的选择 .123.4.2 手臂偏重力矩的确定 .123.5 小结 .13第 4 章 四自由度机械手驱动系统设计 .144.1 气动元件的选用 .144.2 气动系统中各控制和辅助元件的选用 .154.2.1 方向控制阀的选用 .154.2.2 流量控制阀的选用 .164.2.3 压力控制阀的选用 .164.3 液压模块计算 .164.3.1 液压缸活塞的驱动力的计算 .164.3.2 液压缸的结构尺寸 .194.4 活塞杆的设计 .214.4.1 活塞杆的计算 .214.4.2 活塞杆的稳定性校核 .214.5 手臂旋转设计 .234.6 手臂升降设计 .254.6.1 臂部做升降运动时油缸的相关计算 .26V4.6.2 油缸内径的计算 .264.6.3 油缸壁厚 的计算 .274.6.4 活塞杆的计算 .284.7 小结 .29第 5 章 四自由度机械手液压系统设计 .305.1 机械手液压缸的受力情况 .305.1.1 大臂升降缸的受力情况 .305.1.2 手爪夹紧缸的受力情况 .305.1.3 手臂伸缩缸的受力情况 .305.2 液压元件的选择 .305.3 液压系统原理图 .315.4 小结 .31第 6 章结论 .33致谢 .34参考文献 .35附录 .366第 1 章 绪论1.1 选题背景及研究意义机械手的研制，加快了世界科技发展的进程；机械手的诞生，是工业制造史上的重大突破，提高了工业制造生产的水平。在这样的背景下，制造业里面的机械手发展的很是迅速，并且有着十分广泛的应用范围。机械手的动作都是设计好的，主要通过程序来控制机械手去完成规定制定的行为动作，它主要用于枯燥重复的流水线工作的完成，特别在一些高温、危险的环境里，去完成对人来说有困难的工作。虽然目前的机械手是比较成熟的，但是由于机械手的制造成本昂贵，因此目前仅应用于航天航空等高端领域。所以制造成本低、可以满足低端领域使用的四自由度搬运机械手的设计就刻不容缓了。一旦这种新型机械手问世，人类不仅会从传统的手工加工方式中解脱出来，还能让人类的生产率得到大幅的提高，进而改善人类的工作环境，从而让人类的生活变得越来越美好。这种机械手主要功能是代替人去完成繁重而单调的重物搬运和物品分拣工作 1。机械手的研制不仅有利于生产的机械化和自动化程度的提高，还可以减少人力的浪费，加快生产的节奏，因此对这种机械手的进一步研制就显得尤为重要。1.2 机械手概述本课题研究设计搬运机械手的自由度个数是四个。四自由度机械手的运动原理基本相同，但是由于使用领域的不同，所以其结构的设计还是有很大的区别。虽然结构上有些差异，但是机械手的设计主要是设计机械手的控制系统还有驱动系统和传动执行机构这三方面。只有这三方面设计的合理，机械手才能正常运行。71.3 国内外发展现状1.3.1 国外机械手发展现状世界上第一台机械手是 1958 年美国联合公司发明出来的，控制系统是简单的示教型的。后来科学家在此基础上进行了改造，设计出了第二代机械手，对新一代的机械手设计了更多的新功能，实用性也增加了不少。随后的时间里，美国机械铸造公司、Unimate 公司等公司对机械手的研发都很热情，研究出了具有更多功能的机械手。日本从 1969 年在美国进口了一批机械手后，充分发挥了其学习模仿的能力，经过对机械手的研究，日本工业迅速崛起，尤其是汽车行业的迅速发展，成就了“工业发展最迅速”的神话。现在国外对机械手的研发已经很先进了，已经开始从触觉和视觉方面去研制新型的机械手了。这样的机械手能够感应外界实物，不仅能够听到外界的声音，还能够看到外界的视野，这样高端的功能是非常厉害的。目前国外工业机械手的发展方向是柔性制造系统的一整条生产线的全自动化生产。图 1.1 美国早期机械手图 图 1.2 日本机械手图1.3.2 国内机械手发展现状在上个世纪八十年代，国内才开始对机械手进行研究，足足比发达国家对机械手的研究要晚了几十年。我国的第一台机械手是在上海被研发成功的，随后其他城市对机械手的研究才开始进行。随着经济改革开放，国家对机械手的研究力度提高了，并且投入了大量的科研人员和大量资金。8图 1.3 国内机械手图现在我国研发的机械手主要还是用在工业方面，在其他领域的研发进境不是太好。虽然我国的机械手运用在了工业方面，但是自主研发的机械手因为产量少，且达不到一些精密仪器生产的要求。一些高精度加工还是引进国外淘汰的机械手，引进机械手的成本较高，所以我国能用得起机械手的工业企业还是很少的。1.4 课题的主要研究内容机械手主要是用在工业制造生产上，对物品做流水线式的搬运工作。对于机械手的功能要求并不多，主要完成大的工作是实现物体的来回搬运。本文机械手设计的研究内容如下：（1）机械手的工作原理机械手的定位；机械手的旋转动作和抓取动作；机械手的复位功能。（2）机械手的机械结构模块设计机械手的结构设计包括机械手底座、手部、腕部、臂部的设计。（3）机械手的驱动系统模块设计机械手的驱动模块设计包括气动和液压两部分。（4）机械手的液压系统模块设计机械手的液压模块设计包括机械手工作时液压缸的受力情况、液压元件的选取和机械手工作时的液压原理图的设计。9第 2 章 四自由度搬运机械手的总体方案设计2.1 工作原理四自由度搬运机械手的工作原理是仿造人类手臂关节的活动结构，来实现各种复杂动作的运动的，一般机械手都运用在环境恶劣、流水线或者是危险性的工作环境下。本文设计的这种四自由度搬运机械手主要功能是搬运，具体来说就是把一个地方的物品搬运到固定位置上去，这样的自动化设备可以有效减轻劳动力。本文设计的这种四自由度搬运机械手运用在流水工作线上 2，所以对四自由度搬运机械手的活动顺序和对时间的掌控都有比较高的要求了。四自由度搬运机械手在搬运物体时，要保证机械手能平稳，快速，精准的运行。机械手原理图如图2.1 所示。图 2.1 机械手的结构简图102.2 基本参数要求2.2.1 基本参数的确定机械手的设计主要包括结构、功能和各种驱动及动力系统的设计，机械手的基本参数的确定应该是机械手的第一步。本文设计机械手的基本参数如下表所示3。表 2-1 机械手工作过程中的主要参数2.2.2 设计要求本课题设计的搬运机械手，要求由四个方向的运动，分别是手臂可以旋转，1附录 ManipulatorRobot 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 peoples 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 systems 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 manipulatorRobot 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 intheir factories in China, the introduction of automated production. But now the changes2are those found in industrial-intensive South China, East Chinas 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 Chinas 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 andlabor 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 refersto 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 / 3per 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 arealso 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 anddisposal, 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, whichis 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.Implementing agenciesManipulator 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 4The 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 systems 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, militaryindustry, 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)5Four, industrial machinery, application of handManipulator 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 beenof 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 beused 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 specificactions. 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 6ensure 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 fixd 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 powersectors. 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 m7oving 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 usedfor parts assembly, work piece handling, loading and unloading, particularly in the automation of CNC machine tools, modular machine tools more commonly used. At present, the robot has developed into a FMS flexible manufacturing systems and flexible manufacturing cell in an important component of the FMC. The machine tool equipment and machinery in hand together constitute a flexible manufacturing system or a flexible manufacturing cell, it was adapted to small and medium volume production, you can save a huge amount of the work piece conveyor device, compact, and adaptable. When the work piece changes, flexible production system is very easy to change will help enterprises tocontinuously update the marketable variety, improve product quality, and better adapt to market competition. At present, Chinas industrial robot technology and its engineering application level and comparable to foreign countries there is a certain distance, application and industrialization of the size of the low level of robot research and developmentof a direct impact on raising the level of automation in China, from the economy, tec
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