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1、精选优质文档-倾情为你奉上Hand Column Type Power MachineFollow with our country the rapid development of industrial production, rapidly enhance level of automation, implementation artifacts of handling, steering, transmission or toil for welding gun, spraing gun, spanner and other tools for processing, assembly
2、operations for example automation, should cause the attention of people more and more. 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 machi
3、nes, 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
4、 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 i
5、ntensive, 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 syst
6、em 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
7、control technology, sensor technology and computer technology and other fields of science, is a cross-disciplinary integrated technology. Current industrial approaches to robot arm control treat each joint of the robot arm as a simple joint servomechanism. The servomechanism approach models the vary
8、ing dynamics of a manipulator inadequately because it neglects the motion and configuration of the whole arm mechanism. These changes in the parameters of the controlled system sometimes are significant enough to render conventional feedback control strategies ineffective. The result is reduced serv
9、o response speed and damping, limiting the precision and speed of the end-effecter and making it appropriate only for limited-precision tasks. Manipulators controlled in this manner move at slow speeds with unnecessary vibrations. Any significant performance gain in this and other areas of robot arm
10、 control require the consideration of more efficient dynamic models, sophisticated control approaches, and the use of dedicated computer architectures and parallel processing techniques.Manipulator institutional form is simple, strong professionalism, only as a loading device for a machine tools, sp
11、ecial-purpose manipulator is attached to this machine. Along with the development of industrial technology, produced independently according to the process control to achieve repetitive operation, using range is wide program control general manipulator, hereinafter referred to as general manipulator
12、. General manipulator used to quickly change the working procedure, adaptability is stronger, so he is in constant transformation in the medium and small batch production of products are widely used.NO.1 The composition of the manipulator Manipulator is in the form of a variety of, some relatively s
13、imple, some more complex, but the basic form is the same, generally by the actuators, transmission system, control system and the auxiliary device. The actuator manipulator actuators, by the hand, wrist, arm, pillars. Hand is grasping mechanism, which is used to clamp and release artifacts, as a hum
14、an finger, can complete staff of similar action. Is connected to the fingers and wrist arm components, can be up and down, left and right sides and rotary movement. Simple manipulator can not the wrist. Prop used to support the arm, can also according to need to make it move. The driving system move
15、ment of the actuator by the transmission system to achieve. Common mechanical transmission system of mechanical transmission, hydraulic transmission, pneumatic transmission and power transmission etc. Several forms. The control system of manipulator control system main function is to control the man
16、ipulator according to certain procedures, movement direction, position, speed, simple manipulator is generally not set special control system, only the stroke switch, relay, control valves and control circuit can realize dynamic transmission system, the executing agency action in accordance with req
17、uirements. Action complex manipulator should adopts the programmable controller, microcomputer control.NO.2 Classification and characteristics of the manipulator Robots generally fall into three categories the first is general manipulator doesnt need manual operation. It is a kind of independence is
18、 not attached to a host device. It can according to the need of the task program, the operation of the provisions to complete. It is with the characteristics of common mechanical performance, also has general machinery, memory, intelligence of three yuan. The second is the need to do manually. Calle
19、d Operating machine. It originated in the atom, military industry, first by Operating machine to complete a specific assignment, later to use radio signal Operating machine to explore the moon and so on. Used in the forging industry Operating machine falls under this category. The third kind is to u
20、se special manipulator, mainly attached to automatic machine or automatic line, used to solve machine tool material and workpiece to send up and down. This manipulator in a foreign country is called the Mechanical Hand, it is in the service of the host, driven by the host; Except a few working proce
21、dures generally is fixed, so it is special. NO.3 The application of industrial manipulator Manipulator is in the process of mechanization, automation production, developed a kind of new type of device. In recent years, with electronic technology, especially the wide application of electronic compute
22、r, the robots development and production has become a high technology developed rapidly in the field of an emerging technology, it promoted the development of the manipulator, make the manipulator can achieve better with the combination of mechanization and automation. Manipulator although it is not
23、 as flexible as manpower, but it can have repeated work and labor, do not know fatigue, is not afraid of danger, snatch heavy weights strength characteristics such as larger than man, as a result, the manipulator has been brought to the attention of the many departments, and have been applied more a
24、nd more widely.(1) Machine tools machining the workpiece loading and unloading, especially in automatic lathe, use common combination machine tools.(2) Widely used in the assembly operation, it can be used to assemble printed circuit board in the electronics industry, it can be in the machinery indu
25、stry to assemble parts.(3) Can be in working conditions is poor, repetitive easy fatigue of the work environment, to instead of human Labour.(4) The development of the universe and the ocean.(5) Military engineering and biomedical research and test. Application of robots can replace people in dull,
26、repetitive or heavy manual work, to realize mechanization and automation of production, instead of human in harmful environment of manual operation, improve labor condition, ensure the personal safety. In the late 1940 s, the United States in the nuclear experiments, firstly adopts manipulator handl
27、ing radioactive materials, people in the security room to manipulate manipulator for various operation and experiment. After the 50 s, robots gradually extended to industrial production department, for use in high temperature, serious pollution of local leave work pieces and the loading and unloadin
28、g materials, as auxiliary device in the machine tool automatic machine, automatic production line and processing center in the application, complete the material up and down or from libraries take put the knives and replace tool operations such as fixed procedure. Manipulator is mainly composed of h
29、and and motion mechanism. Hand mechanism varies according to the usage situation and operation object, the common are holding, hold and the adsorption type etc. Motion mechanism usually driven by hydraulic, pneumatic, electric devices. Manipulator can be achieved independently of scaling, rotation a
30、nd lifting movement, generally speaking, there are 2 3 degrees of freedom. Robots are widely used in machinery manufacturing, metallurgy, light industry and atomic energy etc. Manipulator is used in the production process automation with grab and move the workpiece is a kind of automatic device, it
31、is in the process of mechanization, automation production, developed a new type of device. In recent years, with electronic technology, especially the wide application of electronic computer, the robots development and production has become a high technology developed rapidly in the field of an emer
32、ging technology, it promoted the development of the manipulator, make the manipulator can achieve better with the combination of mechanization and automation. Robots can replace humans do dangerous, repeat the boring work, reduce human labor intensity and improve labor productivity. Manipulator have
33、 been applied more and more widely, it can be used for parts assembled in the machinery industry, processing the workpiece handling, loading and unloading, especially on the automatic CNC machine, combination machine tools more common use. At present, the manipulator has developed into a flexible ma
34、nufacturing system of FMS and flexible manufacturing cell is an important component of FMC. The machine tool equipment and manipulator of a flexible manufacturing system or flexible manufacturing unit, it is suitable for medium and small batch production, can save a large workpiece delivery device,
35、structure is compact, but also has a strong adaptability. When the workpiece changes, flexible production system is easy to change, is advantageous to the enterprise continuously updated marketable varieties, improve product quality, better adapt to the needs of the market competition. But at presen
36、t our countrys industrial robot technology and its engineering application level and foreign than there is a certain distance, scale and industrialization level is low, research and development of the manipulator has direct influence on raising the automation level of production in our country, from
37、 the consideration on the economic and technology is very necessary. Therefore, carries on the research design of the manipulator is very meaningful.NO.4 The development trend of manipulator Current industrial applications of the manipulator gradually expanding, constantly improve the technology per
38、formance. Due to the short development time, it has a gradual understanding of process, the manipulator and a technically perfect step by step process, its development trend is:1.To expand the application of manipulator and processing industry At present domestic robots used in mechanical industry m
39、ore in cold working operations, while in the hot work such as casting, forging, welding, heat treatment less, and the application of assembly work, etc. So processing work items heavy, complicated shape and high environmental temperature, bring many difficulties to manipulator design, manufacture, i
40、t is need to solve the technical difficulties, make the manipulator to better service for processing work. At the same time, in other industries and industrial sectors, also will with the constant improvement of the industrial technology level, and gradually expand the use of the manipulator2.Improv
41、e the work performance of the industry manipulator Manipulator in the working performance of the pros and cons, determines the application and production, it can normal manipulator working performance of the repetitive positioning accuracy and speed of work two indicators, decided to ensure the qual
42、ity of manipulator can complete the operation of the key factors. Therefore to solve good working stability and rapidity of the manipulators request, besides from solve buffer localization measures, should also be development meet the requirements of mechanical properties and low price of electro-hy
43、draulic servo valve, servo control system was applied to the mechanical hand.3.Development of modular robots Variable application manipulator from the characteristics of the manipulator itself, more adapted to the product type, equipment updates, many varieties, small batch, but its cost is high, th
44、e special manipulator and cheap, but the scope is limited. Therefore, for some special purpose, you need special design, special processing, thus improving the product cost. In order to adapt to the request of the application field of classify, the structure of the manipulator can be designed to the
45、 form of combination. Modular manipulator is a common parts according to the requirement of the job, select necessary to accomplish the function of the unit components, based on the base of combination, deserve to go up with adaptive control part, namely the manipulator with special requirements can
46、 be completed. It can simplify the structure, take into account the specificity and design on the use of generality, more in the series design and organization of standardization, specialized production, to improve quality and reduce cost of the manipulator, is a kind of promising manipulator4. Has
47、a vision and touch of so-called intelligent robots For artificial has flexible operation and the need for judgment of the situation, industrial manipulator is very difficult to replace human labor. Such as in the working process of the accident, disorders and conditions change, etc., manipulator can
48、not be automatically distinguish correct, but to stop, after waiting for people to rule out accident can continue to work. As a result, people puts forward higher requirements on mechanical hand, hope to make it a vision, touch, etc, make it to the judgment, the choice of object, can be continuously
49、 adjusted to adapt to changing conditions, and can perform a hand - eye coordination. This requires a computer can handle a lot of information, require them to exchange of information with machine dialogue. This vision, touch feedback, controlled by computer, is one part of the smart mechanism is called intelligent robots. Is the so-called smart includes: the function of recognition, learning, memory, analysis, judgment. And recognition is through the visual