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液压驱动 自动 上下 机械手 机械 系统 设计 液压 驱动 自由度

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自动上下料机械手的机械系统设计【液压驱动】【4自由度】,液压驱动,自动,上下,机械手,机械,系统,设计,液压,驱动,自由度

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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。二、课题研究的目的、意义在机械工业中，应用机械手的意义可以概括如下：一、以提高生产过程中的自动化程度应用机械手有利于实现材料的传送、工件的装卸、刀具的更换以及机器的装配等的自动化的程度，从而可以提高劳动生产率和降低生产成本。二、以改善劳动条件，避免人身事故在高温、高压、低温、低压、有灰尘、噪声、臭味、有放射性或有其他毒性污染以及工作空间狭窄的场合中，用人手直接操作是有危险或根本不可能的，而应用机械手即可部分或全部代替人安全的完成作业，使劳动条件得以改善。在一些简单、重复，特别是较笨重的操作中，以机械手代替人进行工作，可以避免由于操作疲劳或疏忽而造成的人身事故。三、可以减轻人力，并便于有节奏的生产应用机械手代替人进行工作，这是直接减少人力的一个侧面，同时由于应用机械手可以连续的工作，这是减少人力的另一个侧面。因此，在自动化机床的综合加工自动线上，目前几乎都没有机械手，以减少人力和更准确的控制生产的节拍，便于有节奏的进行工作生产。综上所述，有效的应用机械手，是发展机械工业的必然趋势。三、国内外现状和发展趋势工业机械手是近几十年发展起来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。它的特点是可通过编程来完成各种预期的作业任务，在构造和性能上兼有人和机器各自的优点，尤其体现了人的智能和适应性。机械手作业的准确性和各种环境中完成作业的能力，在国民经济各领域有着广阔的发展前景。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置。在现代生产过程中，机械手被广泛的运用于自动生产线中，机械人的研制和生产已成为高技术邻域内，迅速发殿起来的一门新兴的技术，它更加促进了机械手的发展，使得机械手能更好地实现与机械化和自动化的有机结合。机械手虽然目前还不如人手那样灵活，但它具有能不断重复工作和劳动，不知疲劳，不怕危险，抓举重物的力量比人手力大的特点，因此，机械手已受到许多部门的重视，并越来越广泛地得到了应用自动换刀装置是数控加工中心在工件的一次装夹中实现多道工序加工不可缺少的装置, 主要由刀库、机械手和驱动装置几部分组成。机械手和驱动装置是两个关键部分, 根据驱动装置的不同, 自动换刀装置可分为凸轮式、液压式、齿轮式、连杆式及各种机构复合式, 其中以凸轮式用得较多。发达国家数控加工中心的立式自动换刀机械手主要采用凸轮式, 我国加工中心技术起步较晚, 对自动换刀机械手研究较少。进入20 世纪90 年代后, 北京机床研究所、大连组合机床研究所、济南第一机床厂、青海机床厂以及陕西省的秦川机床厂都对立式自动换刀机械手进行了研究和开发。迄今为止, 我国制造的加工中心配置的自动换刀机械手大多数是进口的。其主要原因: 一是国内生产的换刀机械手质量较差, 成本也不低; 二是进口换刀机械手价格虽然较高, 但在整个加工中心中所占份额不大。作为加工中心的配套技术, 自动换刀机械手的研究和开发将直接影响到我国自动化生产水平的提高, 从经济上、技术上考虑都是十分必要的。立式换刀机械手和卧式换刀机械手已得到广泛应用20 世纪90 年代以来, 数控加工技术得到迅速的普及和发展, 数控机床在制造业得到了越来越广泛的应用。带有自动换刀系统的数控加工中心在现代先进制造业中起着愈来愈重要的作用, 它能缩短产品的制造周期, 提高产品的加工精度, 适合柔性加工。加工中心是数控机床中较为复杂的加工设备, 由于其具有多种加工能力而得到广泛的应用, 其强大的加工能力和效率得益于其配置的自动换刀装置(A u2tomat ic Too l Changer)。换刀装置作为加工中心的重要组成部分, 其主要作用在于减少加工过程中的非切削时间, 提高生产率, 降低生产成本, 进而提升机床乃至整个生产线的生产力。加工中心自动换刀装置是实现多工序连续加工的重要装置, 其结构设计及其控制是实现加工中心设计制造的关键。加工中心的换刀过程较为复杂, 动作多, 动作间的相互协调关系多, 因而自动换刀系统性能的好坏直接影响加工效率的高低. Manipulator Can imitate the arms of the manpower and some action function, according to fixed program to grab, transporting or operating tool for automatic operation of the device. It can replace the hard labor in order to realize people the mechanization of manufacturing and automation, can in harmful environment operation to protect personal safety, and is widely used in mechanical manufacturing, metallurgy, electronics, light industry and atomic energy and other departments.Manipulator by hand and sports organizations main component. The hand is used to catch the workpiece (or tools) components, according to be grasped by the objects shape, size, weight, materials and operational requirements and have a variety of structure forms, such as the gripping type, the type and adsorption type , etc. Movement mechanism, make hand finish all kinds of rotation (swing), mobile or complex movement to achieve the specified action, change the position of the object were caught and position. The rise and fall of sports organizations, adjustable, and rotated independence movement way, called manipulator of freedom. In order to grab any space position and orientation of the object, need to have six degrees of freedom. Freedom is a machine designed off hand gave the key parameters. The more free degrees, the greater the flexibility of the manipulator, the more general broad, its structure is also more complicated. General robots for 2-3 degrees of freedom.The type of manipulator, according to drive mode can be divided into hydraulic, pneumatic, electric and mechanical manipulator; According to applicable range can be divided into robots for and general manipulator two; According to the trajectory control mode can be divided into position control and continuous track control robots.Robots are used for machine tools or other machines additional device, such as in the automatic machine or automatic production line loading and unloading and transfer on the processing center in replaced in the tools, generally no independent control device. Some operations to direct manipulation by device, as for atomic energy department conducted dangerous goods masterslave gunner is often called the manipulator.Second, subject research of the aim, significanceIn the machinery industry, the application of the significance of the manipulator can be summarized as follows:A, in order to improve the production process of automationApplication materials sent the manipulator to achieve the loading and unloading, and the replacement of the machine tool and the degree of automation in the assembly, etc, which can improve labor productivity and reduce the production cost.Second, to improve working conditions, and avoid personal accidentIn high temperature, high pressure, low temperature, low pressure, dust, noise and smell, or radioactive or have other toxic pollution and work the occasion of narrow space, the employing hand direct operation is dangerous or impossible, and the use of robots can part or all of the safety of the people instead of complete the work, make labor conditions to improve.In some simple, repetitive, especially a heavy operations, to work instead of human manipulator, can avoid the operation fatigue or negligence personal accident.Three, can reduce the manpower, and to facilitate the rhythmic productionApplication manipulator to people instead of work, it is the direct reduce human side of, at the same time as the continuous application manipulator can be used to work, it is to reduce human another side. Therefore, in the automation of the machine processing on automatic line, now almost no manipulator, to reduce human and more accurate control of the production of the beat, facilitate rhythmic work on production.To sum up, the effective application of the manipulator, mechanical industry development is an inevitable trend.Three, the situation at home and abroad and its development trendIndustrial manipulator is nearly decades developed a kind of high-tech automation production equipment. Industry of industrial robot manipulator is an important branch of. Its characteristic is can programmed to perform a variety of expected task, structure and performance in both man and machine of their respective advantages, especially reflected the intelligence of person and adaptability. Manipulator and the accuracy of all kinds of environment homework in finish the homework ability, in all areas of the national economy has broad prospects for development.Manipulator is in mechanization, automatic production process developed a kind of new type of device. In the modern production process, the manipulator is widely used to automatic production line, robots, developing and producing high technology has become a neighbourhood, quickly hair house up a new technology, it is more to promote the development of the manipulator, making the manipulator to better achieve and mechanization and automation organic union. Although at present the manipulator hand than as flexible, but it has to repeat work and labor, dont know fatigue, is not afraid of the danger, snatch the power of weight than people hand power the characteristics of large, therefore, manipulator has been many departments of attention and was to get more and more extensive applicationAutomatically change the knife device is the nc processing center in the a fixture in the realization process processing indispensable device, and the main tool store, and driving system manipulator a few parts. Manipulator and driving system is two key parts, according to drive the different, automatically change the tool device can be divided into CAM type, hydraulic, gear type, connecting rod type and various institutions compound, among them with the CAM type use morer. The developed countries of the nc machining center vertical automatically change the knife manipulator mainly USES the CAM type, processing center technology in China started late, to automatically change the knife less manipulator. In the 1990 s, Beijing institute of machine tools, dalian modular machine tool research, jinan first machine tool plant in qinghai province of shaanxi province, machine tool plant and shaanxi to vertical automatic machine tool plant in the knife manipulator research and development. So far, Chinas manufacturing processing center of the configuration of the automatically change the knife manipulator is most of the imports. The main reasons: one is the change of knife manipulator domestic production of poor quality, costs are not low; 2 it is import price change cutters manipulator although higher, b