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1、外文翻译机械手培训课件HandColumnTypePowerMachineFollowwithourcountrytherapiddevelopmentofindustrialproduction,rapidlyenhancelevelofautomation,implementationartifactsofhandling,steering,transmissionortoilforweldinggun,sprainggun,spannerandothertoolsforprocessing,assemblyoperationsforexampleautomation,shouldcaus
2、etheattentionofpeoplemoreandmore.Industrialrobotisanimportantbranchofindustrialrobots.Itfeaturescanbeprogrammedtoperformtasksinavarietyofexpectations,inbothstructureandperformanceadvantagesoftheirownpeopleandmachines,inparticular,reflectsthepeoplesintelligenceandadaptability.Theaccuracyofrobotoperat
3、ionsandavarietyofenvironmentstheabilitytocompletetheworkinthefieldofnationaleconomyandtherearebroadprospectsfordevelopment.Withthedevelopmentofindustrialautomation,therehasbeenCNCmachiningcenter,itisinreducinglaborintensity,whilegreatlyimprovedlaborproductivity.However,theupperandlowercommoninCNCmac
4、hiningprocessesmaterial,usuallystillusemanualortraditionalrelay-controlledsemi-automaticdevice.Theformertime-consumingandlaborintensive,inefficient;thelatterduetodesigncomplexity,requiremorerelays,wiringcomplexity,vulnerabilitytobodyvibrationinterference,whiletheexistenceofpoorreliability,faultmorem
5、aintenanceproblemsandotherissues.ProgrammableLogicControllerPLC-controlledrobotcontrolsystemformaterialsupanddownmovementissimple,circuitdesignisreasonable,withastronganti-jammingcapability,ensuringthesystemsreliability,reducedmaintenancerate,andimproveworkefficiency.Robottechnologyrelatedtomechanic
6、s,mechanics,electricalhydraulictechnology,automaticcontroltechnology,sensortechnologyandcomputertechnologyandotherfieldsofscience,isacross-disciplinaryintegratedtechnology.Currentindustrialapproachestorobotarmcontroltreateachjointoftherobotarmasasimplejointservomechanism.Theservomechanismapproachmod
7、elsthevaryingdynamicsofamanipulatorinadequatelybecauseitneglectsthemotionandconfigurationofthewholearmmechanism.Thesechangesintheparametersofthecontrolledsystemsometimesaresignificantenoughtorenderconventionalfeedbackcontrolstrategiesineffective.Theresultisreducedservoresponsespeedanddamping,limitin
8、gtheprecisionandspeedoftheend-effecterandmakingitappropriateonlyforlimited-precisiontasks.Manipulatorscontrolledinthismannermoveatslowspeedswithunnecessaryvibrations.Anysignificantperformancegaininthisandotherareasofrobotarmcontrolrequiretheconsiderationofmoreefficientdynamicmodels,sophisticatedcont
9、rolapproaches,andtheuseofdedicatedcomputerarchitecturesandparallelprocessingtechniques.Manipulatorinstitutionalformissimple,strongprofessionalism,onlyasaloadingdeviceforamachinetools,special-purposemanipulatorisattachedtothismachine.Alongwiththedevelopmentofindustrialtechnology,producedindependently
10、accordingtotheprocesscontroltoachieverepetitiveoperation,usingrangeiswideprogramcontrolgeneralmanipulator,hereinafterreferredtoasgeneralmanipulator.Generalmanipulatorusedtoquicklychangetheworkingprocedure,adaptabilityisstronger,soheisinconstanttransformationinthemediumandsmallbatchproductionofproduc
11、tsarewidelyused.NO.1ThecompositionofthemanipulatorManipulatorisintheformofavarietyof,somerelativelysimple,somemorecomplex,butthebasicformisthesame,generallybytheactuators,transmissionsystem,controlsystemandtheauxiliarydevice.Theactuatormanipulatoractuators,bythehand,wrist,arm,pillars.Handisgraspingm
12、echanism,whichisusedtoclampandreleaseartifacts,asahumanfinger,cancompletestaffofsimilaraction.Isconnectedtothefingersandwristarmcomponents,canbeupanddown,leftandrightsidesandrotarymovement.Simplemanipulatorcannotthewrist.Propusedtosupportthearm,canalsoaccordingtoneedtomakeitmove.Thedrivingsystemmove
13、mentoftheactuatorbythetransmissionsystemtoachieve.Commonmechanicaltransmissionsystemofmechanicaltransmission,hydraulictransmission,pneumatictransmissionandpowertransmissionetc.Severalforms.Thecontrolsystemofmanipulatorcontrolsystemmainfunctionistocontrolthemanipulatoraccordingtocertainprocedures,mov
14、ementdirection,position,speed,simplemanipulatorisgenerallynotsetspecialcontrolsystem,onlythestrokeswitch,relay,controlvalvesandcontrolcircuitcanrealizedynamictransmissionsystem,theexecutingagencyactioninaccordancewithrequirements.Actioncomplexmanipulatorshouldadoptstheprogrammablecontroller,microcom
15、putercontrol.NO.2ClassificationandcharacteristicsofthemanipulatorRobotsgenerallyfallintothreecategoriesthefirstisgeneralmanipulatordoesntneedmanualoperation.Itisakindofindependenceisnotattachedtoahostdevice.Itcanaccordingtotheneedofthetaskprogram,theoperationoftheprovisionstocomplete.Itiswiththechar
16、acteristicsofcommonmechanicalperformance,alsohasgeneralmachinery,memory,intelligenceofthreeyuan.Thesecondistheneedtodomanually.CalledOperatingmachine.Itoriginatedintheatom,militaryindustry,firstbyOperatingmachinetocompleteaspecificassignment,latertouseradiosignalOperatingmachinetoexplorethemoonandso
17、on.UsedintheforgingindustryOperatingmachinefallsunderthiscategory.Thethirdkindistousespecialmanipulator,mainlyattachedtoautomaticmachineorautomaticline,usedtosolvemachinetoolmaterialandworkpiecetosendupanddown.ThismanipulatorinaforeigncountryiscalledtheMechanicalHand,itisintheserviceofthehost,driven
18、bythehost;Exceptafewworkingproceduresgenerallyisfixed,soitisspecial.NO.3TheapplicationofindustrialmanipulatorManipulatorisintheprocessofmechanization,automationproduction,developedakindofnewtypeofdevice.Inrecentyears,withelectronictechnology,especiallythewideapplicationofelectroniccomputer,therobots
19、developmentandproductionhasbecomeahightechnologydevelopedrapidlyinthefieldofanemergingtechnology,itpromotedthedevelopmentofthemanipulator,makethemanipulatorcanachievebetterwiththecombinationofmechanizationandautomation.Manipulatoralthoughitisnotasflexibleasmanpower,butitcanhaverepeatedworkandlabor,d
20、onotknowfatigue,isnotafraidofdanger,snatchheavyweightsstrengthcharacteristicssuchaslargerthanman,asaresult,themanipulatorhasbeenbroughttotheattentionofthemanydepartments,andhavebeenappliedmoreandmorewidely.(1)Machinetoolsmachiningtheworkpieceloadingandunloading,especiallyinautomaticlathe,usecommonco
21、mbinationmachinetools.(2)Widelyusedintheassemblyoperation,itcanbeusedtoassembleprintedcircuitboardintheelectronicsindustry,itcanbeinthemachineryindustrytoassembleparts. (3)Canbeinworkingconditionsispoor,repetitiveeasyfatigueoftheworkenvironment,toinsteadofhumanLabour.(4)Thedevelopmentoftheuniversean
22、dtheocean.(5)Militaryengineeringandbiomedicalresearchandtest.Applicationofrobotscanreplacepeopleindull,repetitiveorheavymanualwork,torealizemechanizationandautomationofproduction,insteadofhumaninharmfulenvironmentofmanualoperation,improvelaborcondition,ensurethepersonalsafety.Inthelate1940s,theUnite
23、dStatesinthenuclearexperiments,firstlyadoptsmanipulatorhandlingradioactivematerials,peopleinthesecurityroomtomanipulatemanipulatorforvariousoperationandexperiment.Afterthe50s,robotsgraduallyextendedtoindustrialproductiondepartment,foruseinhightemperature,seriouspollutionoflocalleaveworkpiecesandthel
24、oadingandunloadingmaterials,asauxiliarydeviceinthemachinetoolautomaticmachine,automaticproductionlineandprocessingcenterintheapplication,completethematerialupanddownorfromlibrariestakeputtheknivesandreplacetooloperationssuchasfixedprocedure.Manipulatorismainlycomposedofhandandmotionmechanism.Handmec
25、hanismvariesaccordingtotheusagesituationandoperationobject,thecommonareholding,holdandtheadsorptiontypeetc.Motionmechanismusuallydrivenbyhydraulic,pneumatic,electricdevices.Manipulatorcanbeachievedindependentlyofscaling,rotationandliftingmovement,generallyspeaking,thereare23degreesoffreedom.Robotsar
26、ewidelyusedinmachinerymanufacturing,metallurgy,lightindustryandatomicenergyetc.Manipulatorisusedintheproductionprocessautomationwithgrabandmovetheworkpieceisakindofautomaticdevice,itisintheprocessofmechanization,automationproduction,developedanewtypeofdevice.Inrecentyears,withelectronictechnology,es
27、peciallythewideapplicationofelectroniccomputer,therobotsdevelopmentandproductionhasbecomeahightechnologydevelopedrapidlyinthefieldofanemergingtechnology,itpromotedthedevelopmentofthemanipulator,makethemanipulatorcanachievebetterwiththecombinationofmechanizationandautomation.Robotscanreplacehumansdod
28、angerous,repeattheboringwork,reducehumanlaborintensityandimprovelaborproductivity.Manipulatorhavebeenappliedmoreandmorewidely,itcanbeusedforpartsassembledinthemachineryindustry,processingtheworkpiecehandling,loadingandunloading,especiallyontheautomaticCNCmachine,combinationmachinetoolsmorecommonuse.
29、Atpresent,themanipulatorhasdevelopedintoaflexiblemanufacturingsystemofFMSandflexiblemanufacturingcellisanimportantcomponentofFMC.Themachinetoolequipmentandmanipulatorofaflexiblemanufacturingsystemorflexiblemanufacturingunit,itissuitableformediumandsmallbatchproduction,cansavealargeworkpiecedeliveryd
30、evice,structureiscompact,butalsohasastrongadaptability.Whentheworkpiecechanges,flexibleproductionsystemiseasytochange,isadvantageoustotheenterprisecontinuouslyupdatedmarketablevarieties,improveproductquality,betteradapttotheneedsofthemarketcompetition.Butatpresentourcountrysindustrialrobottechnology
31、anditsengineeringapplicationlevelandforeignthanthereisacertaindistance,scaleandindustrializationlevelislow,researchanddevelopmentofthemanipulatorhasdirectinfluenceonraisingtheautomationlevelofproductioninourcountry,fromtheconsiderationontheeconomicandtechnologyisverynecessary.Therefore,carriesonther
32、esearchdesignofthemanipulatorisverymeaningful.NO.4ThedevelopmenttrendofmanipulatorCurrentindustrialapplicationsofthemanipulatorgraduallyexpanding,constantlyimprovethetechnologyperformance.Duetotheshortdevelopmenttime,ithasagradualunderstandingofprocess,themanipulatorandatechnicallyperfectstepbystepp
33、rocess,itsdevelopmenttrendis:1.ToexpandtheapplicationofmanipulatorandprocessingindustryAtpresentdomesticrobotsusedinmechanicalindustrymoreincoldworkingoperations,whileinthehotworksuchascasting,forging,welding,heattreatmentless,andtheapplicationofassemblywork,etc.Soprocessingworkitemsheavy,complicate
34、dshapeandhighenvironmentaltemperature,bringmanydifficultiestomanipulatordesign,manufacture,itisneedtosolvethetechnicaldifficulties,makethemanipulatortobetterserviceforprocessingwork.Atthesametime,inotherindustriesandindustrialsectors,alsowillwiththeconstantimprovementoftheindustrialtechnologylevel,a
35、ndgraduallyexpandtheuseofthemanipulator2.ImprovetheworkperformanceoftheindustrymanipulatorManipulatorintheworkingperformanceoftheprosandcons,determinestheapplicationandproduction,itcannormalmanipulatorworkingperformanceoftherepetitivepositioningaccuracyandspeedofworktwoindicators,decidedtoensuretheq
36、ualityofmanipulatorcancompletetheoperationofthekeyfactors.Thereforetosolvegoodworkingstabilityandrapidityofthemanipulatorsrequest,besidesfromsolvebufferlocalizationmeasures,shouldalsobedevelopmentmeettherequirementsofmechanicalpropertiesandlowpriceofelectro-hydraulicservovalve,servocontrolsystemwasa
37、ppliedtothemechanicalhand.3.DevelopmentofmodularrobotsVariableapplicationmanipulatorfromthecharacteristicsofthemanipulatoritself,moreadaptedtotheproducttype,equipmentupdates,manyvarieties,smallbatch,butitscostishigh,thespecialmanipulatorandcheap,butthescopeislimited.Therefore,forsomespecialpurpose,y
38、ouneedspecialdesign,specialprocessing,thusimprovingtheproductcost.Inordertoadapttotherequestoftheapplicationfieldofclassify,thestructureofthemanipulatorcanbedesignedtotheformofcombination.Modularmanipulatorisacommonpartsaccordingtotherequirementofthejob,selectnecessarytoaccomplishthefunctionoftheuni
39、tcomponents,basedonthebaseofcombination,deservetogoupwithadaptivecontrolpart,namelythemanipulatorwithspecialrequirementscanbecompleted.Itcansimplifythestructure,takeintoaccountthespecificityanddesignontheuseofgenerality,moreintheseriesdesignandorganizationofstandardization,specializedproduction,toim
40、provequalityandreducecostofthemanipulator,isakindofpromisingmanipulator4.Hasavisionandtouchofso-calledintelligentrobotsForartificialhasflexibleoperationandtheneedforjudgmentofthesituation,industrialmanipulatorisverydifficulttoreplacehumanlabor.Suchasintheworkingprocessoftheaccident,disordersandcondi
41、tionschange,etc.,manipulatorcannotbeautomaticallydistinguishcorrect,buttostop,afterwaitingforpeopletoruleoutaccidentcancontinuetowork.Asaresult,peopleputsforwardhigherrequirementsonmechanicalhand,hopetomakeitavision,touch,etc,makeittothejudgment,thechoiceofobject,canbecontinuouslyadjustedtoadapttoch
42、angingconditions,andcanperformahand-eyecoordination.Thisrequiresacomputercanhandlealotofinformation,requirethemtoexchangeofinformationwithmachinedialogue.Thisvision,touchfeedback,controlledbycomputer,isonepartofthesmartmechanismiscalledintelligentrobots.Istheso-calledsmartincludes:thefunctionofrecog
43、nition,learning,memory,analysis,judgment.Andrecognitionisthroughthevisual,touchandhearingfeelorganofcognitiveobject.Whichhasthefunctionofsensoryrobot,itsperformanceisperfect,canaccuratelyclampingarbitraryazimuthobjects,determineanobject,weight,workoverobstacles,theclampingforceismeasuredautomaticall
44、y,andcanautomaticallyadjust,suitableforengagedintheoperationofthecomplex,precision,suchasassemblyoperation,ithasacertaindevelopmentprospects.Intelligentrobotsisanemergingtechnology,thestudyofitwillinvolvetheelectronictechnology,controltheory,communicationtechnology,televisiontechnology,spatialstruct
45、ureandbionicmechanicaldiscipline.Itisanemergingfieldofmodernautomaticcontroltechnology.Withthedevelopmentofscienceandintelligentrobotswillreplacepeopletodomorework.工业机械手随着我国工业生产的飞跃发展，自动化程度的迅速提高，实现工件的装卸、转向、输送或是操持焊枪、喷枪、扳手等工具进行加工、装配等作业的自动化，应越来越引起人们的重视。工业机械手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
46、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。随着工业自动化的发展,出现了数控加工中心,它在减轻工人的劳动强度的同时,大大提高了劳动生产率。但数控加工中常见的上下料工序,通常仍采用人工操作或传统继电器控制的半自动化装置。前者费时费工、效率低;后者因设计复杂,需较多继电器,接线冗杂,易受车体振动干扰,而存在可靠性差、故障多、维修困难等问题。可编程序控制器PLC控制的上下料机械手控制系统动作简便、线路设计合理、具有较强的抗干扰能力,保证了系统运行的可靠性,降低了维修率,提高了工作效率。机械手技术涉及到力学、机械学、
47、电气液压技术、自动控制技术、传感器技术和计算机技术等科学领域，是一门跨学科综合技术。目前的工业机械臂控制将每一个机械臂的联合看做一个简单的联合伺服。伺服方法不能从分地模拟不同的动力学机械手，由于它忽略了机械手整体的运动和配置。这些控制系统的参数的变化有时是足够重要，以致于使常规的反应控制方法失效。其结果是减少了伺服相应的速度和阻尼，限制了京都和最终效应的速度，使系统仅适用于有限精度的工作。机械手以这种方式控制速度降低而没有不必要的震动。任何在这一领域和其它领域的机械臂性能增益要求更有效率的动态模型、精细的控制方法、专门的计算机架构和并行处理技术。机械手的构造形式开场比拟简单，专业性较强，仅为某
48、台机床的上下料装置，是附属于该机床的专用机械手。随着工业技术的发展，制成了能够独立的按程序控制实现重复操作，使用范围比拟广的“程序控制通用机械手，简称通用机械手。用于通用机械手很快的改变工作程序，适应性较强，所以他在不断变换生产品种的中小批量生产中获得广泛应用。一、机械手的组成机械手的形式是多种多样的，有的较为简单，有的较为复杂，但基本的组成形式是一样的，一般由执行机构、传动系统、控制系统和辅助装置组成。1.执行机构机械手的执行机构，由手、手腕、手臂、支柱组成。手是抓取机构，用来夹紧和松开工件，与人的手指相仿，能完成人手的类似动作。手腕是连接手指与手臂的元件，能够进行上下、左右和回转动作。简单
49、的机械手能够没有手腕。支柱用来支撑手臂，可以以根据需要做成移动。2.传动系统执行机构的动作要由传动系统来实现。常用机械手传动系统分机械传动、液压传动、气压传动和电力传动等几种形式。3.控制系统机械手控制系统的主要作用是控制机械手按一定的程序、方向、位置、速度进行动作，简单的机械手一般不设置专用的控制系统，只采用行程开关、继电器、控制阀及电路便可实现动传动系统的控制，使执行机构按要求进行动作动作复杂的机械手则要采用可编程控制器、微型计算机进行控制。二、机械手的分类和特点机械手一般分为三类：第一类是不需要人工操作的通用机械手。它是一种独立的不附属于某一主机的装置。它能够根据任务的需要编制程序，以完成各项规定的操作。它的特点是具备普通机械的性能之外，还具备通用机械、记忆智能的三元机械。第二类是需要人工才做的，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，后来发展到用无线电讯号操作机来进行探测月球等。工业中采用的锻造操作机也属于这一范畴。第三类是用专用机械手，主要附属于自动机床