文献翻译——柱立式助力机械手臂的设计

第1页外文文献资料ManufacturingEngineeringandTechnologyMachining,2004TheDesignofHandColumnTypePowerMachineShanghaiMetallurgicalResearchInstituteofChineseAcademyofSciencesAbstractMachinehanddevelopedinrecentdecadesashigh-techautomatedproductionequipment.Industrialmachinehandisanimportantbranchofindustrialmachinehands.Itfeaturescanbeprogrammedtasksinavarietyofexpectations,inbothstructureandperformanceadvantagesoftheirownpeopleandmachines,inparticular,reflectsthepeoplesintelligenceandadaptability.Theaccuracyofmachinehandoperationsandavarietyofenvironmentstheabilitytocompletetheworkinthefieldofnationaleconomyandtherearebroadprospectsfordevelopment.Withthedevelopmentofindustrialautomation,therehasbeenCNCmarchingcenter,itisinreducinglaborintensity,whilegreatlyimproveslaborproductivity.However,theupperandlowercommoninCNCmarchingprocessesmaterial,usuallystillusemanualortraditionalrelay-controlledsemi-automaticdevice.Theformertime-consumingandlaborintensive,inefficient;thelatterduetodesigncomplexity,requiremorerelays,writingcomplexity,vulnerabilitytobodyvibrationinterference,whiletheexistenceofpoorreliability,faultmoremaintenanceproblemsandotherissues.ProgrammableLogicControllerPLC-controlledmachinehandcontrolsystemformaterialupanddownmovementissimple,circuitdesignisreasonable,whileastronganti-jammingcapability,ensuringthesystemsreliability,reducedmaintenancerate,andimproveworkefficiency.Machinehandtechnologyrelatedtomechanics,mechanics,electricalhydraulictechnology,automaticcontroltechnology,sensortechnologyandcomputertechnologyandotherfieldsofscience,isacross-disciplinarytechnology.1.1.1.AnoverviewofindustrialmanipulatorMachinehandisakindofpositioningcontrolwhichcanbeautomatedandcanbere-programmedtochangeinmulti-functionalmachine,whichhasmultipledegreesoffreedomcanbeusedtocarryanobjectinordertocompletetheworkindifferentenvironments.LowwagesinChina,plasticproductsindustry,althoughstillalabor-intensive,mechanicalhandusehasbecomeincreasinglypopular.Butnowthechangesarethosefoundinindustrial-intensiveSouthChina,EastChinascoastalareas,localplasticprocessingplantshavealsoemergedinmechanicalwatchesbegantobecomeincreasinglyinterestedin,becausetheyhavetofaceahighturnoverrateofworkers,aswellasfortheworkerstopaywork-relatedinjuriesfeechallenges.WiththerapiddevelopmentofChinasindustrialproduction,especiallythereformandopeningupaftertherapidincreaseinthedegreeofautomationtoachievetheworkpiecehandling,steering,transmissionoroperationofbrazing,spraygun,wrenchesandothertoolsforprocessingandassemblyoperationssince,whichhasmoreandmoreattractedourattention.Machinehandistoimitatethemanualpartoftheaction,accordingtoagivenprogram,trackandrequirementsforautomaticcapture,handlingoroperationoftheautomaticmechanicaldevices.Inreallife,youwillfindthisaproblem.Inthemachineshop,theprocessingofpartsloadingtimeisnotannoying,andlaborproductivityisnothigh,thecostofproductionmajor,andsometimesman-madeincidents第2页willoccur,resultinginprocessingwereinjures.Thinkaboutwhatcouldreplaceitwiththeprocessingtimeofatouraslongasthereareafewpeople,andcanoperate24hourssaturatedhumanright?Theanswerisyes,butthemachinehandcancometoreplaceit.Productionofmechanicalhandcanincreasetheautomationlevelofproductionandlaborproductivity;canreducelaborintensity,ensuringproductquality,toachievesafeproduction;particularlyinthehigh-temperature,highpressure,lowtemperature,lowpressure,dust,explosive,toxicandradioactivegasessuchaspoorenvironmentcanreplacethenormalworkingpeople.HereIwouldliketothinkofdesigningamachinehandtobeusedinactualproduction.Whywouldamachinehanddesignedtoprovideapneumaticpower:pneumaticmachinehandreferstothecompressedairaspowersource-drivenmachinehand.Withpressure-drivenandotherenergy-drivencomparisonhavethefollowingadvantages:1.Airinexhaustible,usedlaterdischargedintotheatmosphere,doesnotrequirerecyclinganddisposal,donotpollutetheenvironment.(Conceptofenvironmentalprotection)2.Airstickissmall,thepipelinepressurelossissmall(typicallylessthanasphaltgaspathpressuredropofone-thousandth),tofacilitatelong-distancetransport.3.Compressedairoftheworkingpressureislow(usually4to8kg/persquarecentimeter),andthereforemovingthematerialcomponentsandmanufacturingaccuracyrequirementscanbelowered.4.Withthehydraulictransmission,comparedtoitsfasteractionandreaction,whichisoneoftheadvantagespneumaticoutstanding.5.Theaircleanermedia,itwillnotdegenerate,noteasytoplugthepipeline.Buttherearealsoplaceswhereitfliesintheointment:1.Asthecompressibilityofair,resultinginpooraerodynamicstabilityofthework,resultingintheimplementingagenciesastheprecisionofthevelocityandnoteasilycontrolled.2.Astheuseoflowatmosphericpressure,theoutputpowercannotbetoolarge;inordertoincreasetheoutputpowerisboundtothestructureoftheentirepneumaticsystemsizeincreased.1.2.2.Thecomposition,mechanicalhandMachinehandintheformofavarietyofforms,somerelativelysimple,somemorecomplicated,butthebasicformisthesameasthecompositionofthe,usuallybytheimplementingagencies,transmissionsystems,controlsystemsandauxiliarydevicescomposed.1.ImplementingagenciesManipulatorexecutingagencybythehands,wrists,arm,pillars.Handsarecrawlinginstitutions,isusedtoclampandreleasetheworkpiece,andsimilartohumanfingers,tocompletethestaffingofsimilaractions.Wristandfingersandthearmconnectingthecomponentscanbeupanddown,left,androtarymovement.Asimplemechanicalhandcannotwrist.Pillarsusedtosupportthearmcanalsobemademobileasneeded.2.TransmissionSub-transmissionsystemcommonlyusedmanipulatormechanicaltransmission,hydraulictransmission,pneumaticandelectricpowertransmissionandotherdriveseveralforms.3.ControlSystemManipulatorcontrolsystemsmainroleistocontrolthemachinehandaccordingtocertainprocedures,direction,position,speedofaction,asimplemechanicalhandisgenerallynotsetupadedicatedcontrolsystem,usingonlytripswitches,relays,controlvalvesandcircuitscanbeachieveddynamicdrivesystemcontrol,sothatimplementingagenciesaccordingtotherequirementsofaction.Actionwillhavetousecomplexprogrammablemachinehandcontroller,themicro-computercontrol.第3页1.3.3.MechanicalhandclassificationandcharacteristicsMachinehandsaregenerallydividedintothreecategories:thefirstisthegeneralmachinerydoesnotrequiremanualhand.Itisanindependentnotaffiliatedwithaparticularhostdevice.Itcanbeprogrammedaccordingtotheneedsofthetasktocompletetheoperationoftheprovisions.Itischaracterizedwithordinarymechanicalperformance,alsohasgeneralmachinery,memory,intelligenceternarymachinery.Thesecondcategoryistheneedtomanuallydoit,calledtheoperationofaircraft.Itoriginatedintheatom,militaryindustry,firstthroughtheoperationofmachinestocompleteaparticularjob,andlaterdevelopedtooperateusingradiosignalstocarryoutdetectingmachinessuchastheMoon.Thethirdcategoryisdedicatedmanipulator,themainsubsidiaryoftheautomaticmachinesorautomaticlines,tosolvethemachineupanddowntheworkpiecematerialanddelivery.Thismechanicalhandinforeigncountriesknownasthe“MechanicalHand”,whichisthehostofservices,fromthehost-driven;exceptionofafewoutsidetheworkingproceduresaregenerallyfixed,andthereforespecial.MainfeaturesFirst,mechanicalhand(theupperandlowermaterialmachinehand,assemblymachinehand,handlingmachinehand,stackingmachinehand,helpmachinehand,vacuumhandlingmachines,vacuumsuctioncrane,labor-savingspreader,pneumatic)Second,cantilevercranes(cantilevercrane,electricchainhoistcrane,airbalancethehanging,etc.)Third,rail-typetransportsystem(hangingrail,lightrail,singlegirdercranes,double-beamcrane)Four,industrialmachinery,applicationofhandManipulatorinthemechanizationandautomationoftheproductionprocessdevelopedanewtypeofdevice.Inrecentyears,aselectronictechnology,especiallycomputerextensiveuseofmachinehanddevelopmentandproductionofhigh-techfieldshasbecomearapidlydevelopedanewtechnology,whichfurtherpromotedthedevelopmentofmachinehand,allowingmachinehandtobetterachievedwiththecombinationofmechanizationandautomation.Althoughthemachinehandisnotasflexibleasstaff,butithastothecontinuousduplicationofworkandlabor,therefore,mechanicalhandhasbeenappliedwidely,forexample:a)Machiningtheworkpieceloadingandunloading,especiallyintheautomaticlathe,combinationmachinetooluseismorecommon.b)Intheassemblyoperationsarewidelyusedintheelectronicsindustry,itcanbeusedtoassembleprintedcircuitboards,inthemachineryindustry.Itcanbeusedtoassemblepartsandcomponents.c)Theworkingconditionsmaybepoor,monotonous,repetitiveeasytosub-fatigueworkingenvironmenttoreplacehumanlabor.d)Maybeindangeroussituations,suchasmilitarygoodshandling,dangerousgoodsandhazardousmaterialremovalandsoon.e)Universeandoceandevelopment.f)Militaryengineeringandbiomedicalresearchandtesting.Helpmechanicalhand:allknowasthebalancer,balancesuspended,labor-savingspreader,manualTransfermachineisakindofweightlessnessofmanualloadsystem,anovel,time-savingtechnologyformaterialhandlingoperationsboosterequipment,belongingtokindsofnon-standarddesignofseriesproducts.Customerapplicationsneeds,creatingcustomizedcases.Manualoperationofasimulationoftheautomaticmachinery,itcanbeafixedprogramdraws,handlingobjectionsorperformhouseholdtoolstoaccomplishcertainspecificactions.Applicationofmachinehandcanreplacethepeopleengagedinmonotonous,repetitiveorheavymanuallabor,themechanizationandautomationofproduction,insteadofpeopleinhazardousenvironmentsmanualoperation,improvingworking第4页conditionsandensurepersonalsafely.Thelate20thcentury,40,theUnitedStatedatomicenergyexperiment,thefirstuseofradioactivematerialhandlingmachinehand,humanmachinehandinasaferoomtomanipulatorandgraduallyextendedtoindustrialproductionsector,forthetemperatures,pollutedareas,andloadingandunloadingtotakeplacetheworkpiecematerial,butalsoasanauxiliarydeviceinautomaticmachinetools,machinetools,automaticproductionlinesandprocessingcenterapplications,thecompletionoftheupperandlowermaterial.Agencieswiththeuseofhandsandoperationofobjectsofdifferentoccasions,oftenthereareclamping,supportandadsorptiontypeofcare.Movementorgansaregenerallyhydraulicpneumatic,electricaldevicedrivers.Manipulatorcanbeachievedindecentlyretractable,rotationandliftingmovements,generally2to3degreesoffreedom.Machinehandsarewidelyusedinmetallurgicalindustry,machinerymanufacture,lightindustryandatomicenergysectors.Itcanreplacehumanlaborinordertoachievetheproductionofheavymechanizationandautomationthatcanoperateinhazardousenvironmenttoprotectthepersonalsafety,whichiswidelyusedinmachinerymanufacturing,metallurgy,electronics,lightindustryandnuclearpowersectors.Mechanicalhandtoolsorotherequipmentcommonlyusedforadditionaldevices,suchastheautomaticmachinesorautomaticproductionlinehandlingandtransmissionoftheworkpiece,thereplacementofcuttingtoolsinmachiningcenters,etc.generallydonothaveaseparatecontroldevice.Someoperatingdevicesrequiredirectmanipulationbyhumanssuchastheatomicenergysectorperformshouseholdhazardousmaterialusedinthemaster-slavemanipulatorisalsooftenreferredtoasmechanicalhand.Taskofhandisholdingtheworkpiece(ortool)components,accordingtograspingobjectsbyshape,size,weight,materialandoperationalrequirementsofavarietyofstructuralforms,suchasclamptype,typeandadsorptionofavarietyofhandrotation(swing),mobileorcompoundmovementstoachievetherequiredaction,tochangethelocationofobjectsbygraspingandposture.Machinehandistheautomatedproductionofakindusedintheprocessofcrawlingandmovingpiecefeaturesautomaticdevice,whichismechanizedandautomatedproductionprocessdevelopedanewtypeofdevice.Inrecentlyyears,aselectronictechnology,especiallycomputerextensiveuseofmachinehanddevelopmentandproductofhigh-techfieldshasbecomearapidlydevelopedanewtechnology,whichfurtherpromotedthedevelopmentofmachinehand,allowingmachinehandtobetterachievedwiththecombinationofmechanizationandautomation.Machinehandcanreplacehumanscompletedtheriskofduplicationsofboringwork,toreducehumanlaborintensityandimprovelaborproductivity.Manipulatorhasbeenappliedmoreandmorewidely,inthemachineryindustry,itcanbeusedforpartsassembly,workpiecehandling,loadingandunloading,particularlyintheautomationofCNCmachinetools,modularmachinetoolsmorecommonlyused.Atpresent,themachinehandhasdevelopedintoaFMSflexiblemanufacturingsystemsandflexiblemanufacturingcellinanimportantcomponentoftheFMC.Themachinetoolequipmentandmachineryinhandtogetherconstituteaflexiblemanufacturingsystemoraflexiblemanufacturingcell,itwasadaptedtosmallandmediumvolumeproduction,youcansaveahugeamountoftheworkpiececonveyordevice,compact,andadaptable.Whentheworkpiecechanges,flexibleproductionsystemisveryeasytochangewillhelpenterprisestocontinuouslyupdatethemarketablevariety,improveproductquality,andbetteradapttomarketcompetition.Atpresent,Chinasindustrialmachinehandtechnologyanditsengineeringapplicationlevelandcomparabletoforeigncountriesthereisacertaindistance,applicationandindustrializationofthesizeofthelowlevelofmachinehandresearchanddevelopmentofadirectimpactonraisingthelevelofautomationinChina,fromtheeconomy,technicalconsiderationsareverynecessary.Therefore,thestudyofmechanicalhanddesignismeaningful.第5页中文翻译稿柱立式助力机械手臂的设计摘要：机械手是在近十多年开发的一种高科技自动化生产设备。工业机械手的是工业机器人的一个重要分支。它的特点是可以通过设计来完成各种期望的工作任务，在构造和性能上有人和机器各自的优点，特别是反映了人的智能和应变能力。机械手作业的准确性和完成在各种恶劣的情况下作业的能力，对国民经济各领域都具有广阔前景。随着工业的发展，出现了工业自动化，数控加工中心，他在减轻工人的劳动强度的同时，大大提高了劳动生产率，但在数控加工过程中，往往还用手工或半自动传统的继电器控制的设备。前者的工作，其效率是低的，后者由于设计复杂，需要更多的继电器，复杂的布线，容易受到车体的振动的干扰，且可靠性差，易产生故障，维护困难等问题。机械手控制系统的可编程逻辑控制器PLC控制上下运动很简单，电路设计合理，具有较强的抗干扰能力，保证了系统运行的可靠性，降低维修率，提高了工作效率。机械手技术涉及到力学，机械和电气液压技术，自动控制技术，传感器技术和计算机技术，是一个跨学科的综合性技术。1.工业机械手的概述机械手是一种能自动定位控制，并可以进行编程，以改变它的多功能机，它具有多个自由度，可以用于在不同的环境中处理一个对象来完成的工作。在中国工资水平低，塑料制品仍属于劳动密集型产业，利用机械手臂已经变得越来越流行。欧洲和美国的跨国公司在中国的工厂很早就引进了自动化生产。但现在的变化是中国南方的工业/中国东部沿海地区密集的塑料加工厂开始有越来越多的利益的分配，因为他们要面对工人的高流失率，以及所带来的工伤费用支付的挑战。随着工业生产在中国，特别是改革开放后的快速发展，自动化，实现工件搬运，转向，传动或钎焊操作，喷枪，扳手等工具进行加工装配业务，已经越来越引起我们的注意。机械手是模仿人的行动的一部分，根据给定方案的要求，跟踪和实现自动抓取，搬运或自动机械装置的操作。在现实生活中，你会发现这样一个问题：在机械厂，加工零件装是很麻烦的，劳动生产率不高，生产成本大，有时候，有些人意外受伤需要处理。想想没有什么可以代替第6页它，处理时只有几个人巡视一下，可24小时饱和运作，人行吗？答案是肯定的，但机械能来替换它。生产机械手可以提高生产和劳动生产率的自动化水平，可降低劳动强度，保证产品质量，实现安全生产，特别是在高温，高压，低温，低压，粉尘，易爆，有毒，放射性气体下，可以代替人在其中工作。想到这里，我就很想设计一个机械手运用到实际中。为什么会选择气动来给机械手提供功率：气动机械手是指以压缩空气操纵的动力源机械手。与其他能源驱动器相比，有以下几个优点：（1）空气是无限的，用完后还回大气中，是不需要回收和处理的，不污染环境。（环保）（2）具有体积小，风管压力损失小，便于远距离传输。（3）较低的压缩空气的工作压力（通常是4到8公斤/每平方厘米），可以减小对元件材料和制造精度的要求。（4）与液压传动相比，其操作和反应是快速的，这是气动优秀的优点之一。（5）干净的空气介质，不会变质，管路不容易堵塞。但也有它美中不足：（1）由于空气的可压缩性，但气动工作稳定性差，从而导致移动速度和定位精度是不容易控制。（2）由于使用空气压力低，输出功率也不能过大，为了增加输出力，必须使气动系统规模的增大。2.机械手的组成机械手有各种形式，一些较简单，有些更为复杂，但基本形式是相同的，并且在一般情况下，由执行机构,传动系统和辅助装置组成。2.1.执行器机械手驱动器，以手，腕，臂，立柱的形式。手是抓取机构，用于拧紧或松开工件，作为一个人的手指，能完成一个人手的类似行动。手腕是被连接到手指和手臂中间，可以向上和向下，向左，右两侧的旋转运动。简单的机械手没有手腕。支柱用来支撑手臂，也可以根据要求来移动。2.2.驱动系统执行机构的动作需要由传动系统来实现。常用的机械驱动系统分为机械传动，液压第7页传动，气动传输和电力传输等几种形式。2.3.控制系统机械手控制系统的主要功能是按照一定的程序，运动方向，位置，速度进行动作，简单的机械手一般不设置专门的控制系统，只有行程开关，继电器，控制阀和电路便可以实现控制，使其按照要求执行机构动作。复杂的机械手的动作，需要使用可编程控制器，微电脑控制。3机械手的分类和特点机械手一般分为三类：第一种是不需要人工操作的机械手。它是独立的没有连接到主机设备。它可以根据任务规划的需要，按规定操作来完成任务。它的特点是具备常见的机械性能，也是一种三源通用机械。第二种类型是，需要人工做，称为操作机。它起源于原子，军事工业，先是通过操作机来完成特定的作业，之后发展到使用无线电信号来探测月球等。第三类是专用机械手，主要附在自动机床或自动线上，用于解决机床上下料和工件传送，它是为主机服务的，由主机驱动，除了少数外，程序一般是固定的，因此是专用的。主要特点：（1）机械手（搬运机械手，堆垛机械手，装配机械手，真空搬运机，真空吸吊机，省力吊具，气动平衡器等）。（2）悬臂起重机（悬臂吊，气动平衡机等）。（3）导轨运输系统（悬挂轨道，轻型轨道，双梁起重机）。（4）工业机械手的应用机械手是在机械化、自动化生产过程中发展起来的一种新型装