起重机的发展状况中英文翻译.doc

目 录 l Manipulator 2l 机械手3l The development of the crane3l 起重机的发展状况7l History of the development of robot11l 机器人的发展历史14ManipulatorManpower and arms to mimic the action of certain functions to crawl at a fixed procedure, handling objects or tools of the automatic operation devices. It can replace the heavy labor in order to achieve the production mechanization and automation can be harmful to the environment in the operation to protect the personal safety and therefore widely used in machine building, metallurgy, electronics, light industry and atomic energy sectors.Manipulator mainly by the hand and sports institutions. Grasp the hand is holding the workpiece (or tools) components, according to the grasping objects of shape, size, weight, materials and operational requirements and a variety of forms, such as the gripping type, a type care and adsorption type, etc. . Sports bodies, so that the hand to complete all kinds of rotation (swing), move or movement of action to achieve the requirements, changing the location of grasping objects and gestures. Sports bodies movements, stretching, rotating, such as the independence movement, known as the manipulator of freedom. To crawl space in any location and position of objects, to have six degrees of freedom.Freedom is the key manipulator design parameters. The more freedom, more flexibility manipulator, GM of the broader, more complex structure. General machinery specialized for a hand 2 to 3 degrees of freedom. Manipulator types, the drive can be divided into hydraulic, pneumatic, electric, mechanical manipulator; according to the scope of application can be divided into special machinery and general machinery hand in hand two; control the trajectory can be divided into point - Control and continuous trajectory control, such as mechanical hand.Manipulators are usually used for machine tools or other machinery of the additional devices, such as the automatic machine or automatic production line handling and transmission parts, in the processing centres in the replacement tool, the general lack of independent control devices. Some devices need to operate directly from person to manipulation, such as the departments of atomic energy for maintaining the dangerous goods-from the main operators also often referred to as mechanical hand.机械手能模仿人手和臂的某些动作功能，用以按固定程序抓取、搬运物件或操作工具的自动操作装置。它可代替人的繁重劳动以实现生产的机械化和自动化，能在有害环境下操作以保护人身安全，因而广泛应用于机械制造、冶金、电子、轻工和原子能等部门。 机械手主要由手部和运动机构组成。手部是用来抓持工件（或工具）的部件，根据被抓持物件的形状、尺寸、重量、材料和作业要求而有多种结构形式，如夹持型、托持型和吸附型等。运动机构，使手部完成各种转动（摆动）、移动或复合运动来实现规定的动作，改变被抓持物件的位置和姿势。运动机构的升降、伸缩、旋转等独立运动方式，称为机械手的自由度 。为了抓取空间中任意位置和方位的物体，需有6个自由度。自由度是机 械手设计的关 键参数。自由 度越多，机械手的灵活性越大，通用性越广，其结构也越复杂。一般专用机械手有23个自由度。 机械手的种类，按驱动方式可分为液压式、气动式、电动式、机械式机械手；按适用范围可分为专用机械手和通用机械手两种；按运动轨迹控制方式可分为点位控制和连续轨迹控制机械手等。 机械手通常用作机床或其他机器的附加装置，如在自动机床或自动生产线上装卸和传递工件，在加工中心中更换刀具等，一般没有独立的控制装置。有些操作装置需要由人直接操纵，如用于原子能部门操持危险物品的主从式操作手也常称为机械手。 The development of the craneIts own human civilization, material handling to type of activity has become an important component of more than 5,000 years ago has been the history of the development. With the expansion of the scale of production, increase the degree of automation, an important material handling equipment as the crane in the modernization of the production process more widely, the growing role of the cranes require higher and higher, the rapid development of science and technology And promote a modern design and manufacturing capacity increase, the fierce competition in the international market is also increasingly rely on technology competition. These are the technical performance of a crane to enter a new stage of development, the crane is undergoing a huge transformation. On the basis of cranes new theories, new technology and new trends, with examples, briefly discussed the characteristics of foreign advanced cranes and development trends.1, key products, large, high-speed and dedicated of.As industrial production increased scale, increasing production efficiency and production process of loading and unloading of materials handling gradually increase the proportion of the cost, to large crane or the demand for high-speed growth, since more and more weight, increasing the pace of work And higher energy consumption and reliability requirements. Crane has become automated production processes in an important link. Crane should not only easy-to-use, easy to maintain and better security, higher reliability, requires excellent durability, trouble-free, maintenance and use of economy. Currently the worlds largest cranes from the weight of 3000 t, the largest bridge crane from the birthday of a 1200 t, even the shore container crane car has reached the maximum operating speed of 350 m / min, stacking crane-largest operating speed 240 m / min, garbage Treatment of cranes lifting speed of 100 m / min.2, series modular, combination and StandardizationWith modular design instead of the traditional the complete machine design, a crane on the basic functions of the same components, parts and components made from a variety of purposes, have the same connection elements and interchangeable modules, through the combination of different modules of each other, Formation of different types and specifications of the crane. To improve the crane, just for a few modules. Design a new crane, just choose different modules re-combination. Small-volume production will enable the crane to a considerable bulk into the module production, high efficiency of specialized production and business organizations also may be the production of product management into the management module.The complete machine to improve performance, lower manufacturing costs and improve the general level, with less specifications of the components of many varieties, multi-standard products to fully meet user demand. At present, Germany, Britain, France, the United States and Japan, the famous crane companies have used cranes modular design, and have achieved notable results. Germany Demag Cranes campaign to switch to the standard modular design, design than a single drop of 12 percent design fee, the cost of production dropped 45 percent, and economic benefits are substantial. Germany Demag KBK also developed a flexible modular hoisting crane, the crane-type cold-rolled steel structure from a combination of rail, cranes line running along the production process can be arbitrary layout, a forklift Road, turn, cross-over, Variable gauge. All components can achieve great扎suppressed production, again based on the users needs and specific material handling line in a short period of time to various parts combination with top. This combination of the crane is very good, easy to operate, can make full use of space, operating costs low. A manual, automatic forms, but also of suspension system, single-beam hoisting crane, a crane hoisted two-beam, the cantilever crane, light gantry crane and manually stacking crane, or even to form large-scale automated material handling systems .3, the generic products of small, light and diversificationA considerable bulk of the crane is in common use of the occasion, the work is not very heavy. Large quantities of such cranes, wide use, consider the benefits, minimize the appearance requirements crane height, to simplify the structure, reducing the forces round pressure, may also rename the entire building height decline in light of the building structure, reducing construction costs. Therefore electric hoist girder bridge crane and a crane will be faster development, and will replace the majority of small and medium tonnage of general-purpose bridge crane. Germany Demag After several decades of development and innovation, has become a light standard modular crane series. Weight from 1 to 80 tons, working-level A1 A7, the entire series from the shape and box-beam, hanging box-beam, angular shape of small cars in single-beam and double-box-beam, and other species composition. Main beam and the beam-phase grounding car and lifting a variety of layout patterns can be different for different buildings and lifting height requirements. According to specifications of each user needs have three cranes and three single-speed two-speed for arbitrary choice, you can also choose Frequency Control. Ground control approach has its own mobile portal flashlight, flashlight trolley Gate with the mobile, fixed doors flashlight, wireless remote control, fixed cab, the cab car with the mobile, mobile, and other drivers room to choose seven. Crane and the cars power supply cable car is conductive, DVS system in two ways. So many options, through different combinations, with hundreds of species of cranes, and fully meet the needs of different users. This crane is another big advantage of light, light forces, round pressure light, small form factor height, can greatly reduce the construction cost of plant buildings, may also reduce the power and the operation of a crane operating costs. Compared with GM products, from the weight of 10 t, span of 22.5 m, GM double-beam bridge crane forces 24 t, crane-rail height of more than 1876 mm, width of a crane 5980 mm; Demag cranes themselves only 8.7 t, light-weight 176% Crane tracks of a high degree of over 920 mm, reduced 104 percent, cranes width 2980 mm, form factor reduction of 100%.4, product performance automation, and intelligent digital Crane updates and development, to a large extent depend on the electric transmission and control improvements. Machinery and electronic technology to technology, advanced computer technology, microelectronic technology, power electronics technology, fiber optic cable technology, hydraulic technology, fuzzy control technology applications to drive the machinery and control systems, and crane automation and Intellectualized . Large cranes new generation of highly efficient electrical control devices have been developed into all-electronic digital control system. Mainly by the digital control drives, PLC, fault diagnosis and data management systems, digital manipulation and other detection equipment to be formed. PSA Frequency Control, RF data communication, consultation fault monitoring, anti-sway spreader of fuzzy control, laser View lifting of focus, near-field sensor anti-collision technology, fieldbus, carrier communication and control, power supply and non-contact Three-dimensional bar code technology will be widely applied. The crane is more flexible, to fit the large numbers of small quantities of flexible production model and improve stand-alone integrated automation level. To focus on the development of high-performance microprocessor core for electric transmission device to enable the crane has excellent speed and static dynamic characteristics, can operate in automatic control, and automatically record shows, crane operation of automatic protection and automatic detection and special occasions The long-distance remote control, so as to meet the needs of automated production.5, portfolio packages, integrated and flexible In stand-alone automated crane on the basis of the various computer lifting the transport machinery to form a material handling system integration, through the control of the central control room, and the organic integration of production equipment, production systems and coordination. Such crane high degree of automation, with information processing capabilities that can be detected by the sensor implementation of various kinds of information storage, computing, logical judgement, such as processing transform processing, then sent to the implementing agencies control instructions. Such crane also has good information input and output interfaces, full of information, accurate and reliable integration in the entire material handling system of transmission. Crane through systems integration, can form different aircraft of the match and the best combination of strong points, the best effect. The current focus on the development of a plant handling automation systems, flexible manufacturing systems, commercial distribution of goods distribution system, container loading and unloading transport systems, transportation and postal service packages of goods to the automatic sorting and handling systems. 6, a new product structure, handsome and practical The structure of a deformed steel and thin-walled profile, reduce the structure of the seam stitching and enhance anti-fatigue properties. Using all kinds of Kai strength low-alloy steel materials, enhance capacity and improve conditions for the force, to reduce forces and increase the aesthetic appearance. Bridge crane structure of the bridge are a box-four beams, the main beam with a beam of high strength bolt-connected, makes it easy to transport and install. At the institutional level to further the development of new transmission parts, simplify institutions. Triple-play operation agency is the worlds light, intermediate crane operation of the mainstream, motor, brakes and a reducer for one, a compact, lightweight handsome, easy accessibility, simple adjustments, operating steadily, matching the scope of the The advantages of overseas has been widely applied to a variety of crane operation bodies. To enable the lifting of small and medium tonnage car structure as simple as possible, while reducing the size of children from high to reduce pressure round, has been widely used abroad as electric hoist lifting bodies. In order to reduce self-respect, enhance capacity, improve processing conditions, increase product yield, parts and components to the widespread use of welding and casting, such as Shell reducer, vol Jane, with the pulley and so welded structure. Reducer gear tooth surface are used to relieve themselves, reducing the volume and improve capacity and increase service life. Hydraulic disc brake putt on the application of a growing. In addition, agencies are using the motor to the high-speed development, thereby reducing the electrical base, reduce weight and reduce the form factor, and with the use of small braking torque brake.起重机的发展状况自有人类文明以来，物料搬运便成了要类活动的重要组成部分，距今已有五千多年的发展历史。随着生产规模的扩大，自动化程度的提高，作为物料搬运重要设备的起重机在现代化生产过程中应用越来越广，作用愈来愈大，对起重机的要求也越来越高，科学技术的飞速发展，推动了现代设计和制造能力的提高，激烈的国际市场竞争也越来越依赖于技术的竞争。这些都促使起重机的技术性能进入崭新的发展阶段，起重机正经历着一场巨大的变革。现根据起重机的新理论、新技术和新动向，结合实例，简要论述国外先进起重机的特点和发展趋势。1、重点产品大型化，高速化和专用化。由于工业生产规模不断扩大，生产效率日益提高，以及产品生产过程中物料装卸搬运费用所占比例逐渐增加，促使大型或高速起重机的需求量不断增长，起重量越来越大，工作速度越来越高，并对能耗和可靠性提出更高的要求。起重机已成为自动化生产流程中的重要环节。起重机不但要容易操作，容易维护，而且安全性要好，可靠性要高，要求具有优异的耐久性、无故障性、维修性和使用经济性。目前世界上最大的履带起重机起重量3000t，最大的桥式起重机起生日一1200t，集装箱岸连装卸桥小车的最大运行速度已达350m/min，堆垛起重机级最大运行速度240mmin，垃圾处理用起重机的起升速度达100mmin。 2、系列产品模块化、组合化和标准化用模块化设计代替传统的整机设计方法，将起重机上功能基本相同的构件、部件和零件制成有多种用途，有相同联接要素和可互换的标准模块，通过不同模块的相互组合，形成不同类型和规格的起重机。对起重机进行改进，只需针对某几个模块。设计新型起重机，只需选用不同模块重新进行组合。可使单件小批量生产的起重机改换成具有相当批量的模块生产，实现高效率的专业化生产，企业的生产组织也可由产品管理变为模块管理。达到改善整机性能，降低制造成本，提高通用化程度，用较少规格数的零部件组成多品种、多规格的系列产品，充分满足用户需求。目前，德国、英国、法国、美国和日本的著名起重机公司都已采用起重机模块化设计，并取得了显著的效益。德国德马格公司的标准起重机系列改用模块化设计后，比单件设计的设计费用下降12，生产成本下降45，经济效益十分可观。德国德马格公司还开发了一种KBK柔性组合式悬挂起重机，起重机的钢结构由冷轧型轨组合而成，起重机运行线路可沿生产工艺流程任意布置，可有叉道、转弯、过跨、变轨距。所有部件都可实现大扎遏生产，再根据用户的不同需求和具体物料搬运路线在短时间内将各种部件组合搭配即成。这种起重机组合性非常好，操作方便，能充分利用空间，运行成本低。有手动、自动多种形式，还能组成悬挂系统、单梁悬挂起重机、双梁悬挂起重机、悬臂起重机、轻型门式起重机及手动堆垛起重机，甚至能组成大型自动化物料搬运系统。3、通用产品小型化、轻型化和多样化有相当批量的起重机是在通用的场合使用，工作并不很繁重。这类起重机批量大、用途广，考虑综合效益，要求起重机尽量降低外形高度，简化结构，减小自重和轮压，也可命名整个建筑物高度下降，建筑结构轻型化，降低造价。因此电动葫芦桥式起重机和梁式起重机会有更快的发展，并将大部分取代中小吨位的一般用途桥式起重机。德国德马格公司经过几十年的开发和创新，已形成了一个轻型组合式的标准起重机系列。起重量180吨，工作级别A1A7，整个系列由工字形和箱型单梁、悬挂箱形单梁、角形小车箱形单梁和箱形双梁等多个品种组成。主梁与端梁相接以及起重小车的布置有多种型式，可适合不同建筑物及不同起吊高度的要求。根据用户需要每种规格起重机都有三种单速及三种双速供任意选择，还可以选用变频调速。操纵方式有地面手电门自行移动、手电门随小车移动、手电门固定、无线遥控、司机室固定、司机室随小车移动、司机室自行移动等七种选择。大车及小车的供电有电缆小车导电、DVS系统两种方式。如此多的选择项，通过不同的组合，可搭配成百上千种起重机，充分满足用户不同的需求。这种起重机的另一最大优点是轻型化，自重轻、轮压轻、外形尺寸高度小，可大大降低厂房建筑物的建造成本，同时也可减小起重机的运行功率和运行成本。与通用产品相比较，起重量10t，跨度22.5m，通用双梁桥式起重机自重24t，起重机轨面以上高度1876mm，起重机宽度5980mm；德马格起重机的自重只有8.7t，重量轻了176，起重机轨面以上高度920mm，降低了104，起重机宽度2980mm，外形尺寸减少了100%。4、产品性能自动化、智能化和数字化起重机的更新和发展，在很大程度上取决于电气传动与控制的改进。将机械技术和电子技术相结合，将先进的计算机技术、微电子技术、电力电子技术、光缆技术、液压技术、模糊控制技术应用到机械的驱动和控制系统，实现起重机的自动化和智能化。大型高效起重机新一代电气控制装置已发展为全电子数字化控制系统。主要由全数字化控制驱动装置、可编程序控制器、故障诊断及数据管理系统、数字化操纵给定检测等设备组成。变压变频调速、射频数据通讯、故障自诊监控、吊具防摇的模糊控制、激光查找起吊物重心、近场感应防碰撞技术、现场总线、载波通讯及控制、无接触供电及三维条形码技术等将广泛得到应用。使起重机具有更高的柔性，以适合多批次少批量的柔性生产模式，提高单机综合自动化水平。重点开发以微处理机为核心的高性能电气传动装置，使起重机具有优良的调速和静动特性，可进行操作的自动控制、自动显示与记录，起重机运行的自动保护与自动检测，特殊场合的远距离遥控等，以适应自动化生产的需要。5、产品组合成套化、集成化和柔性化在起重机单机自动化的基础上，通过计算机把各种起重运输机械组成一个物料搬运集成系统，通过中央控制室的控制，与生产设备有机结合，与生产系统协调配合。这类起重机自动化程度高，具有信息处理功能，可将传感器检测出来的各种信息实施存储、运算、逻辑判断、变换等处理加工，进而向执行机构发出控制指令。这类起重机还具有较好的信息输入输出接口，实现信息全部、准确、可靠地在整个物料搬运集成系统中的传输。起重机通过系统集成，能形成不同机种的最佳匹配和组合，取长补短，发挥最佳效用。目前重点发展的有工厂生产搬运自动化系统，柔性加工制造系统，商业货物配送集散系统，集装箱装卸搬运系统，交通运输和邮电部门行包货物的自动分拣与搬运系统等。6、产品构造新型化、美观化和实用化结构方面采用薄壁型材和异形钢、减少结构的拼接焊缝，提高抗疲劳性能。采用各种启强度低合金钢新材料，提高承载能力，改善受力条件，减轻自重和增加外形美观。桥式起重机的桥架结构型式大多采用箱形四梁结构，主梁与端梁采用高强度螺栓联接，便于运输与安装。在机构方面进一步开发新型传动零部件，简化机构。“三合一”运行机构是当今世界轻、中级起重机运行机构的主流，将电动机、减速器和制动器合为一体，具有结构紧凑、轻巧美观、拆装方便、调整简单、运行平稳、配套范围大等优点，国外已广泛应用到各种起重机运行机构上。为使中小吨位的起重小车结构尽量简化，同时降低起童机的尺寸高度，减少轮压，国外已大量采用电动葫芦作为起升机构。为了减轻自重，提高承载能力，改善加工制造条件，增加产品成品率，零部件尽量采用以焊代铸，如减速器壳体、卷简、滑轮等都用焊接结构。减速器齿轮都采用齿面，以减轻自重、减小体积、提高承载能力、增加使用寿命。液压推杆盘式制动器的应用范围也越来越大。此外，各机构采用的电动机都向高转速发展，从而减小电机基座号，减轻重量与减小外形尺寸，并可配用制动力矩小的制动器。History of the development of robot Intelligent robot is the most complex robot, but also the desire of mankind to the early machines created by the friends. However, to create an intelligent robot is not easy, just let the machine run simulation of human action, scientists must pay dozens or even a hundred years of efforts. From 1920 Czech writer Karel Capek in his science fiction, Luo Samu universal robot companies, according to Robota (Czech, intended as bondage, hard la