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1、机械手外文文献及翻译EnglishRobotdevelopedinrecentdecadesashigh-techautomatedproductionequipment.Industrialrobotisanimportantbranchofindustrialrobots.Itfeaturescanbeprogrammedtoperformtasksinavarietyofexpectations,inbothstructureandperformanceadvantagesoftheirownpeopleandmachines,inparticular,reflectsthepeople
2、sintelligenceandadaptability.Theaccuracyofrobotoperationsandavarietyofenvironmentstheabilitytocompletetheworkinthefieldofnationaleconomyandtherearebroadprospectsfordevelopment.Withthedevelopmentofindustrialautomation,therehasbeenCNCmachiningcenter,itisinreducinglaborintensity,whilegreatlyimprovedlab
3、orproductivity.However,theupperandlowercommoninCNCmachiningprocessesmaterial,usuallystillusemanualortraditionalrelay-controlledsemi-automaticdevice.Theformertime-consumingandlaborintensive,inefficient;thelatterduetodesigncomplexity,requiremorerelays,wiringcomplexity,vulnerabilitytobodyvibrationinter
4、ference,whiletheexistenceofpoorreliability,faultmoremaintenanceproblemsandotherissues.ProgrammableLogicControllerPLC-controlledrobotcontrolsystemformaterialsupanddownmovementissimple,circuitdesignisreasonable,withastronganti-jammingcapability,ensuringthesystemsreliability,reducedmaintenancerate,andi
5、mproveworkefficiency.Robottechnologyrelatedtomechanics,mechanics,electricalhydraulictechnology,automaticcontroltechnology,sensortechnologyandcomputertechnologyandotherfieldsofscience,isacross-disciplinaryintegratedtechnology.First,AnoverviewofindustrialmanipulatorRobotisakindofpositioningcontrolcanb
6、eautomatedandcanbere-programmedtochangeinmulti-functionalmachine,whichhasmultipledegreesoffreedomcanbeusedtocarryanobjectinordertocompletetheworkindifferentenvironments.LowwagesinChina,plasticproductsindustry,althoughstillalabor-intensive,mechanicalhandusehasbecomeincreasinglypopular.Electronicsanda
7、utomotiveindustriesthatEuropeandtheUnitedStatesmultinationalcompaniesveryearlyintheirfactoriesinChina,theintroductionofautomatedproduction.Butnowthechangesarethosefoundinindustrial-intensiveSouthChina,EastChinascoastalareas,localplasticprocessingplantshavealsoemergedinmechanicalwatchesbegantobecomei
8、ncreasinglyinterestedin,becausetheyhavetofaceahighturnoverrateofworkers,aswellasfortheworkerstopaywork-relatedinjuriesfeechallenges.WiththerapiddevelopmentofChinasindustrialproduction,especiallythereformandopeningupaftertherapidincreaseinthedegreeofautomationtoachievetheworkpiecehandling,steering,tr
9、ansmissionoroperationofbrazing,spraygun,wrenchesandothertoolsforprocessingandassemblyoperationssince,whichhasmoreandmoreattractedourattention.Robotistoimitatethemanualpartoftheaction,accordingtoagivenprogram,trackandrequirementsforautomaticcapture,handlingoroperationoftheautomaticmechanicaldevices.I
10、nreallife,youwillfindthisaproblem.Inthemachineshop,theprocessingofpartsloadingtimeisnotannoying,andlaborproductivityisnothigh,thecostofproductionmajor,andsometimesman-madeincidentswilloccur,resultinginprocessingwereinjured.Thinkaboutwhatcouldreplaceitwiththeprocessingtimeofatouraslongasthereareafewp
11、eople,andcanoperate24hourssaturatedhumanrightTheanswerisyes,buttherobotcancometoreplaceit.Productionofmechanicalhandcanincreasetheautomationlevelofproductionandlaborproductivity;canreducelaborintensity,ensuringproductquality,toachievesafeproduction;particularlyinthehigh-temperature,highpressure,lowt
12、emperature,lowpressure,dust,explosive,toxicandradioactivegasessuchaspoorenvironmentcanreplacethenormalworkingpeople.HereIwouldliketothinkofdesigningarobottobeusedinactualproduction.Whywouldarobotdesignedtoprovideapneumaticpower:pneumaticrobotreferstothecompressedairaspowersource-drivenrobot.Withpres
13、sure-drivenandotherenergy-drivencomparisonhavethefollowingadvantages:1.Airinexhaustible,usedlaterdischargedintotheatmosphere,doesnotrequirerecyclinganddisposal,donotpollutetheenvironment.(Conceptofenvironmentalprotection)2.Airstickissmall,thepipelinepressurelossissmall(typicallylessthanasphaltgaspat
14、hpressuredropofone-thousandth),tofacilitatelong-distancetransport.3.Compressedairoftheworkingpressureislow(usually4to8kg/persquarecentimeter),andthereforemovingthematerialcomponentsandmanufacturingaccuracyrequirementscanbelowered.4.Withthehydraulictransmission,comparedtoitsfasteractionandreaction,wh
15、ichisoneoftheadvantagespneumaticoutstanding.5.Theaircleanermedia,itwillnotdegenerate,noteasytoplugthepipeline.Buttherearealsoplaceswhereitflyintheointment:1.Asthecompressibilityofair,resultinginpooraerodynamicstabilityofthework,resultingintheimplementingagenciesastheprecisionofthevelocityandnoteasil
16、ycontrolled.2.Astheuseoflowatmosphericpressure,theoutputpowercannotbetoolarge;inordertoincreasetheoutputpowerisboundtothestructureoftheentirepneumaticsystemsizeincreased.Withpneumaticdriveandcomparewithotherenergysourcesdrivehasthefollowingadvantages:Airinexhaustible,usedlaterdischargedintotheatmosp
17、here,withoutrecyclinganddisposal,donotpollutetheenvironment.Accidentalorasmallamountofleakagewouldnotbeaseriousimpactonproduction.Viscosityofairissmall,thepipelinepressurelossalsoisverysmall,easylong-distancetransport.Thelowerworkingpressureofcompressedair,pneumaticcomponentsandthereforethemateriala
18、ndmanufacturingaccuracyrequirementscanbelowered.Ingeneral,reciprocatingthrustin1to2tonspneumaticeconomyisbetter.Comparedwiththehydraulictransmission,anditsfasteractionandreaction,whichisoneoftheoutstandingmeritsofpneumatic.Cleanairmedium,itwillnotdegenerate,noteasytoplugthepipeline.Itcanbesafelyused
19、inflammable,explosiveandthedustbigoccasions.Alsoeasytorealizeautomaticoverloadprotection.Second，ThecompositionofmechanicalhandmechanicalhandRobotintheformofavarietyofforms,somerelativelysimple,somemorecomplicated,butthebasicformisthesameasthecompositionoftheUsuallybytheimplementingagencies,transmiss
20、ionsystems,controlsystemsandauxiliarydevicescomposed.1.ImplementingagenciesManipulatorexecutingagencybythehands,Wrists,arms,pillars.Handsarecrawlinginstitutions,isusedtoclampandreleasetheworkpiece,andsimilartohumanfingers,tocompletethestaffingofsimilaractions.Wristandfingersandthearmconnectingthecom
21、ponentscanbeupanddown,left,androtarymovement.Asimplemechanicalhandcannotwrist.Pillarsusedtosupportthearmcanalsobemademobileasneeded.2.TransmissionTheactuatorTransmissionTheactuatortobeachievedbythetransmissionsystem.Sub-transmissionsystemcommonlyusedmanipulatormechanicaltransmission,hydraulictransmi
22、ssion,pneumaticandelectricpowertransmissionandotherdriveseveralforms.3.ControlSystemManipulatorcontrolsystemsmainroleistocontroltherobotaccordingtocertainprocedures,direction,position,speedofaction,asimplemechanicalhandisgenerallynotsetupadedicatedcontrolsystem,usingonlytripswitches,relays,controlva
23、lvesandcircuitscanbeachieveddynamicdrivesystemcontrol,sothatimplementingagenciesaccordingtotherequirementsofaction.Actionwillhavetousecomplexprogrammablerobotcontroller,themicro-computercontrol.Three,mechanicalhandclassificationandcharacteristicsRobotsaregenerallydividedintothreecategories:thefirsti
24、sthegeneralmachinerydoesnotrequiremanualhand.Itisanindependentnotaffiliatedwithaparticularhostdevice.Itcanbeprogrammedaccordingtotheneedsofthetasktocompletetheoperationoftheprovisions.Itischaracterizedwithordinarymechanicalperformance,alsohasgeneralmachinery,memory,intelligenceternarymachinery.These
25、condcategoryistheneedtomanuallydoit,calledtheoperationofaircraft.Itoriginatedintheatom,militaryindustry,firstthroughtheoperationofmachinestocompleteaparticularjob,andlaterdevelopedtooperateusingradiosignalstocarryoutdetectingmachinessuchastheMoon.Usedinindustrialmanipulatoralsofallintothiscategory.T
26、hethirdcategoryisdedicatedmanipulator,themainsubsidiaryoftheautomaticmachinesorautomaticlines,tosolvethemachineupanddowntheworkpiecematerialanddelivery.ThismechanicalhandinforeigncountriesknownastheMechanicalHand,whichisthehostofservices,fromthehost-driven;exceptionofafewoutsidetheworkingproceduresa
27、regenerallyfixed,andthereforespecial.Mainfeatures:First,mechanicalhand(theupperandlowermaterialrobot,assemblyrobot,handlingrobot,stackingrobot,helprobot,vacuumhandlingmachines,vacuumsuctioncrane,labor-savingspreader,pneumaticbalancer,etc.).Second,cantilevercranes(cantilevercrane,electricchainhoistcr
28、ane,airbalancethehanging,etc.)Third,rail-typetransportsystem(hangingrail,lightrail,singlegirdercranes,double-beamcrane)machinery,Four,ApplicationanddevelopmentofindustrialmanipulatorApplicationofhandManipulatorinthemechanizationandautomationoftheproductionprocessdevelopedanewtypeofdevice.Inrecentyea
29、rs,aselectronictechnology,especiallycomputerextensiveuseofrobotdevelopmentandproductionofhigh-techfieldshasbecomearapidlydevelopedanewtechnology,whichfurtherpromotedthedevelopmentofrobot,allowingrobottobetterachievedwiththecombinationofmechanizationandautomation.Althoughtherobotisnotasflexibleasstaf
30、f,butithastothecontinuousduplicationofworkandlabor,Idonotknowfatigue,notafraidofdanger,thepowersnatchweightcharacteristicswhencomparedwithmanuallarge,therefore,mechanicalhandhasbeenofgreatimportancetomanysectors,andincreasinglyhasbeenappliedwidely,forexample:(1)Machiningtheworkpieceloadingandunloadi
31、ng,especiallyintheautomaticlathe,combinationmachinetooluseismorecommon.(2)Intheassemblyoperationsarewidelyusedintheelectronicsindustry,itcanbeusedtoassembleprintedcircuitboards,inthemachineryindustry.Itcanbeusedtoassemblepartsandcomponents.(3)Theworkingconditionsmaybepoor,monotonous,repetitiveeasyto
32、sub-fatigueworkingenvironmenttoreplacehumanlabor.(4)Maybeindangeroussituations,suchasmilitarygoodshandling,dangerousgoodsandhazardousmaterialsremovalandsoon.(5)Universeandoceandevelopment.(6)Militaryengineeringandbiomedicalresearchandtesting.Helpmechanicalhands:alsoknownasthebalancer,balancesuspende
33、d,labor-savingspreader,manualTransfermachineisakindofweightlessnessofmanualloadsystem,anovel,time-savingtechnologyformaterialhandlingoperationsboosterequipment,belongingtokindsofnon-standarddesignofseriesproducts.Customerapplicationneeds,creatingcustomizedcases.Manualoperationofasimulationoftheautom
34、aticmachinery,itcanbeafixedprogramdrawshandlingobjectsorperformhouseholdtoolstoaccomplishcertainspecificactions.Applicationofrobotcanreplacethepeopleengagedinmonotonousrepetitiveorheavymanuallabor,themechanizationandautomationofproduction,insteadofpeopleinhazardousenvironmentsmanualoperation,improvi
35、ngworkingconditionsandensurepersonalsafety.Thelate20thcentury,40,theUnitedStatesatomicenergyexperiments,thefirstuseofradioactivematerialhandlingrobot,humanrobotinasaferoomtomanipulatevariousoperationsandexperimentation.50yearslater,manipulatorandgraduallyextendedtoindustrialproductionsector,forthete
36、mperatures,pollutedareas,andloadingandunloadingtotakeplacetheworkpiecematerial,butalsoasanauxiliarydeviceinautomaticmachinetools,machinetools,automaticproductionlinesandprocessingcenterapplications,thecompletionoftheupperandlowermaterial,orFromthelibrarytakeplaceknifeandsoonaccordingtofixedprocedure
37、sforthereplacementoperation.Robotbodymainlybythehandandsportsinstitutions.Agencieswiththeuseofhandsandoperationofobjectsofdifferentoccasions,oftenthereareclampingsupportandadsorptiontypeofcare.Movementorgansaregenerallyhydraulicpneumaticelectricaldevicedrivers.Manipulatorcanbeachievedindependentlyre
38、tractablerotationandliftingmovements,generally2to3degreesoffreedom.Robotsarewidelyusedinmetallurgicalindustry,machinerymanufacture,lightindustryandatomicenergysectors.Canmimicsomeofthestaffandarmmotorfunction,afixedprocedureforthecapture,handlingobjectsoroperatingtools,automaticoperationdevice.Itcan
39、replacehumanlaborinordertoachievetheproductionofheavymechanizationandautomationthatcanoperateinhazardousenvironmentstoprotectthepersonalsafety,whichiswidelyusedinmachinerymanufacturing,metallurgy,electronics,lightindustryandnuclearpowersectors.Mechanicalhandtoolsorotherequipmentcommonlyusedforadditi
40、onaldevices,suchastheautomaticmachinesorautomaticproductionlinehandlingandtransmissionoftheworkpiece,thereplacementofcuttingtoolsinmachiningcenters,etc.generallydonothaveaseparatecontroldevice.Someoperatingdevicesrequiredirectmanipulationbyhumans;suchastheatomicenergysectorperformshouseholdhazardous
41、materialsusedinthemaster-slavemanipulatorisalsooftenreferredtoasmechanicalhand.Manipulatormainlybyhandandsportsinstitutions.Taskofhandisholdingtheworkpiece(ortool)components,accordingtograspingobjectsbyshape,size,weight,materialandoperationalrequirementsofavarietyofstructuralforms,suchasclamptype,ty
42、peandadsorption-basedcaresuchasholding.Sportsorganizations,sothatthecompletionofavarietyofhandrotation(swing),mobileorcompoundmovementstoachievetherequiredaction,tochangethelocationofobjectsbygraspingandposture.Robotistheautomatedproductionofakindusedintheprocessofcrawlingandmovingpiecefeaturesautom
43、aticdevice,whichismechanizedandautomatedproductionprocessdevelopedanewtypeofdevice.Inrecentyears,aselectronictechnology,especiallycomputerextensiveuseofrobotdevelopmentandproductionofhigh-techfieldshasbecomearapidlydevelopedanewtechnology,whichfurtherpromotedthedevelopmentofrobot,allowingrobottobett
44、erachievedwiththecombinationofmechanizationandautomation.Robotcanreplacehumanscompletedtheriskofduplicationofboringwork,toreducehumanlaborintensityandimprovelaborproductivity.Manipulatorhasbeenappliedmoreandmorewidely,inthemachineryindustry,itcanbeusedforpartsassembly,workpiecehandling,loadingandunl
45、oading,particularlyintheautomationofCNCmachinetools,modularmachinetoolsmorecommonlyused.Atpresent,therobothasdevelopedintoaFMSflexiblemanufacturingsystemsandflexiblemanufacturingcellinanimportantcomponentoftheFMC.Themachinetoolequipmentandmachineryinhandtogetherconstituteaflexiblemanufacturingsystem
46、oraflexiblemanufacturingcell,itwasadaptedtosmallandmediumvolumeproduction,youcansaveahugeamountoftheworkpiececonveyordevice,compact,andadaptable.Whentheworkpiecechanges,flexibleproductionsystemisveryeasytochangewillhelpenterprisestocontinuouslyupdatethemarketablevariety,improveproductquality,andbett
47、eradapttomarketcompetition.Atpresent,Chinasindustrialrobottechnologyanditsengineeringapplicationlevelandcomparabletoforeigncountriesthereisacertaindistance,applicationandindustrializationofthesizeofthelowlevelofrobotresearchanddevelopmentofadirectimpactonraisingthelevelofautomationinChina,fromtheeco
48、nomy,technicalconsiderationsareverynecessary.Therefore,thestudyofmechanicalhanddesignisverymeaningful.中文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。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
49、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、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。一、工业机械手的概述机械手是一种能自动化定位控制并可重新编程序以变动的多功能机器，它有多个自由度，可用来搬运物体以完成在各个不同环境中工作。在工资水平较低的中国，塑料制操行业尽管仍属于劳动力密集型，机械手的使用已经越来越普及。那些电子和汽车业的欧美跨国公司很早就在它们设在中国的工厂中引进了自动化生产。但如今的变化是那些分布在工业密集的华南、华东沿海地区的中国本土塑料加工厂也开场对机械手表现出越来越浓厚的兴趣，由于他们要面对工人流失率高，以及为工人交工伤费带来的挑战。随着我国工业生产的飞跃发展，十分是改革开发以后,自动化程度的迅速提高，实现工件的装卸、转向、输送或操作钎焊、喷