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1、机械手翻译IndustrialRobots1.ManipulatoroverviewofRobotsItistheancientrobotinearlyappearanceanddevelopedonthebasisofresearchintothemiddleofthetwentiethcenturymanipulator,alongwiththecomputerandautomationtechnologydevelopment,especiallythefirstdigitalelectroniccomputerin1946,sincetheadventofcomputermadeama
2、zingprogress,tohighspeed,highcapacity,lowpricedirection.Meanwhile,theurgentdemandofmassproductionofpromotingautomationtechnologyprogress,andforthedevelopmentofrobotslaidafoundation.Ontheotherhand,nucleartechnologyresearchrequirescertainoperatingmachineinsteadofpeoplehandletheradioactivesubstances.In
3、thisonerequirementbackground,theUnitedStatesisdevelopedin1947,in1948andremotecontrolrobotdevelopedmechanicalmaster-slavemanipulator.FromtheUnitedStatesbegandevelopingmanipulatorsfirst.In1954theUnitedStatesfirstsuggestedthewearwal-mart,andtheconceptofindustrialrobotappliedforpatent.Thispatentpointisu
4、singservotechnologycontroloftherobotjoints,usinganactionontherobothands,therobotcanrealize.Teachingmovementrecordingandplayback.Thisistheso-calleddemonstrationemersionrobot.Theexistingrobotsareusingthiskindofcontrolmode.1958unitedcontrolcompanydevelopedthefirstmanipulatorrivetingrobot.Astheearliestp
5、racticalmodelrobotproducts(demonstrationreappearance)is1962U.S.AMFcompanylaunchedVERSTRANandUNIMATIONcompanylaunchedUNIMATE.Theseindustrialrobotmainlybysimilarmanshandsandarmswhocomposeditcanreplacethehardlaborinordertoachieveproductionmechanizationandautomation,caninharmfulenvironmentoperationtopro
6、tectthepersonalsafetyandthuswidelyusedinmechanicalmanufacturing,metallurgy,electronics,lightindustryandatomicenergyandotherdepartments.IndustrialrobotCaoZuoJi(bymechanicalbody),controller,servodrivesystemanddetectionsensor,makingitahumanoidoperation,automaticcontrol,canrepeatprogramming,canfinishall
7、kindsofassignmentsin3dspacetheelectromechanicalintegrationautomationproductionequipment.Particularlysuitableformanyvarieties,changeofflexibleproductionbatch.Ittohelpstabilize,improveproductquality,raiseefficiencyinproduction,improveworkingconditionsandproductrapidrenewalplaysanextremelyimportantrole
8、.Robotictechnologyisintegratedwithcomputer,cybernetics,organizationlearning,informationandsensingtechnology,artificialintelligence,bionicsscienceandtheformationofhightechnologyandnewtechnology,isaveryactive,contemporarystudyappliedmoreandmorewidely.Robotapplications,isanationalindustrialautomationle
9、velofimportantsymbol.Robotandnotinthesimplesenseoflabor,butreplaceartificialcomprehensivepeopleskillsandmachineapersonificationofthespecialtyofelectronicmachinery,alreadysomeoneontheenvironmentconditionofrapidreactionandtheanalysisjudgmentability,andamachinecouldbelongerdurationofwork,highprecisiona
10、ndtheabilityofresistancetobadenvironment,inasenseitisalsomachineprocessofevolutionproduct,itisanimportantindustrialandtheindustryproductionandservice,butalsosettheadvancedmanufacturingtechnologyfieldindispensableautomationequipment.Manipulatorispartoftheactionimitatingthehands,accordingtothegivenpro
11、gram,trackanddemandingacquirement,handlingoroperationoftheautomaticmechanicaldevice.Intheindustrialproductionoftheapplicationofindustrialrobotscalledrobot.Applicationofmanipulatorcanbeusedtoincreaseproductionlevelofautomationproductionandlaborproductivity:canreducelaborintensity,assureproductquality
12、,achievesafetyproduction;Especiallyinhightemperature,highpressure,lowtemperature,lowpressureanddust,explosive,toxicgasesandradiationetcharshenvironment,itinsteadofhumannormalwork,meaningmoresignificant.Therefore,inthemechanicalprocessing,stamping,casting,forging,welding,heattreatment,electroplating,
13、paint,assemblyandlightindustry,transportationetcwidelyquotedareincreasingly.Thestructureofthemanipulatorissimpler,specificityformbegan,strongforamachinetoolsonlyfeeder,andwasattachedtothemachinesspecialmanipulator.Alongwiththedevelopmentofindustrialtechnology,madebyanindependentprogramcontrolrealiza
14、tionrepeatedoperation,suitablescopeiswiderprogramcontrolgeneralmanipulator,orgeneralmanipulator.Duetothechangeofgeneralmanipulatorcanquicklyworkingprocedures,goodadaptability,soitcontinuestotransformthemediumandsmallbatchproductionproductsgainextensivereference.文档视界2022/817022af182e453610661ed9ad51f
15、01dc28157b5c0fulq1gqyp.htmlposedofthemanipulator1)ActuatorsHandNamelypartsincontactwithobjects.Duetothedifferentformsofcontactwithobjects,canbedividedintoclampingtypeandadsorptionthehands.Grippingtypehandfingers(orbyPAWS)andpowertransmissioninstitutionconstitutes.Fingersareindirectcontactwiththeobje
16、ctofcomponents,commonfingermovementformshavemovedbacktothetransformationofpeace.Backtothetransformationofsimplestructure,easyfingers,soapplicationcomponentmanufacturingiswidelyappliedtranslationtype,itsreasonislesscomplicatedstructure,buttranslationstypecircularparts,fingersclampingworkpiecediameter
17、variationdonotaffectitsaxisposition,thereforeappropriateclampingdiametervariationrangeworkpiece.Fingerstructurebygraspingobjectdependsonsurfaceshape,caughtparts(theprofileorwithinhole)andobjectweightanddimensions.Commonreferstoaflat,formthev-shapedfingerandsurface:thecliptypeandinsidetheresupporting
18、type;Indexhasdoublereferstotype,bytypeandhandsofdoublereferstotype,etc.Buttheforcetransmissioninstitutionisproducedbyclampingforcefingerstoaccomplishthetask.PutobjectsclipsPowertransmissioninstitutionsare:themorecommonlyusedtypeslidingchannel,connectingleverlevertype,bevelgearlevertype,type,screwnut
19、upper-and-lower,typespringtypeandgravitytype,etc.Enclosedtypehandmademainlybychuck,itistorelyonadsorptionforce(suchaschuckformedinthenegativepressureoranelectricsuctionmagnetic)adsorptionobjects,thecorrespondingadsorptionhandhavenegativepressureandelectricdisktwokindsofsuckers.Forlightsmallflakepart
20、s,smoothplatematerials,usuallywithnegativepressurechuchsuckmaterial.Thewaycausenegativepressureairsuctionandvacuumpumptype.Toguidemagneticringtypeandtheplatewithahole,andhavesuchpartsofsheetetc(meshes,usuallyuseelectro-magneticchucksuckmaterial.Thesuctionelectromagneticchuchbydcmagnetsandproduction.
21、Communicationelectromagnet.Withnegativepressurechuchandelectromagneticchuchabsorbcharge,itsshape,quantity,suckersabsorbabilitysize,accordingtoadsorbobjectshape,sizeandweightsizeanddecide.Inaddition,accordingtospecialneeds,thehandandspoontype(suchascastingmanipulatorpouredbagpart),Joetype(suchascoldg
22、earmachineup-downmaterialmanipulatorhand)type.WristHandandarmisconnectedcomponents,andcanbeusedtoadjustthepositionbygraspingobject(i.e.posture).ArmThearmissupportingcaughtobjects,hand,animportantpartofthewrist.Thearmsroleistodrivetograbobjects,andfingerspredeterminedasksitshandlingtothelocationspeci
23、fied.Industrialmanipulatorarmoftenmovingpartsbydrivingarm(suchasoilcylinder,cylinders,rack-andpinioninstitutions,linkmechanism,screwmechanismandCAMmechanism,etc.)anddrivesource(suchashydraulicandpneumaticormotor,etc.),inordertorealizethecombinedarmsallkindsofsports.Thearmintelescopicorliftingmovemen
24、t,inordertopreventarounditsaxisrotation,needaguidedevice,toensurethatthefingeronthecorrectdirectionmovement.Inaddition,orientationdevicecanbeararmswerebendingmomentandtorsionmomentwhenturningorarmmovementinstart-up,brakegeneratedatthemomentofinertia,makethemovingpartsstressstateissimple.Orientationd
25、evicestructureform,commonlyusedare:singlecylinder,doublecylindrical,fourcylinderandv-shapedchamfer,swallowtailtroughetcorientedform.PillarPillarissupportingthearmparts,pillaralsocanbepartofthearmandarmturnmovementandlift(orpitch)movementareandpillararecloselylinked.Manipulatortousuallysetforfixed,bu
26、tneedbecauseofthejob,sometimesalsocanmakelateralmovement,namelycalledwillmoveatypebar.WalkInstitutionsWhenindustrialrobotsneedtocompletearemoteoperation,orexpandedusescope,thesameseatinstallationroller,rail,etc,inordertorealizethemobilemechanismofthemachinemovement.IndustrialrobotsRollertypecanbediv
27、idedintothemobilemechanismofsoundsandtwotrolley.Driverollermotionshouldbeadditionalmechanicaltransmissiondevice.BaseSeatingisbasicpartsofmanipulator,manipulatoractuatorcomponentsandthedrivesystemareinstalledinonstandby,sotheroleofthesupportandlinks.2)DrivesystemDrivesystemisdrivingindustrialrobotsac
28、tuatorsmovementofthepowerunit,usuallybypowersupply,thecontroladjustingdeviceandauxiliarydevicecomponent.Thedrivesystemusedinhydraulictransmission,pneumatictransmission,powertransmissionandmechanicaltransmissionetc4form.3)ControlsystemControlsystemisdominatedbytherequirementsofindustrialrobotssportsy
29、stem.Atpresentthecontrolsystemofindustrialrobotsbyprocesscontrolsystemandgeneralelectricpositioning(ormechanicalstoppiecespositioning)systems.Controlsystemhastheelectricalcontrolandjetcontroltwokinds,itdominatesthemanipulatorproceduresstipulatedbythemovement,accordingtopeopleandmemoryofthemanipulato
30、rinstructioninformation(suchasactionsequence,trajectory,movementspeedandtime),andaccordingtothecontrolsystemoftheinformationinstructionexecutiveagenciesand,whennecessary,theactionofmanipulatorwhenmotionsurveillance,anyerrororfaultalarmsignalthat.4)PositiondetectiondeviceControllingmanipulatoractuato
31、rpositionandkeepmovementofactuatoractualpositionfeedbacktocontrolsystem,andwithsettingthepositiontocompare,andthenadjustedbycontrollingsystem,thusmakeactuatorstocertainaccuracyreachedsetposition.3.ManipulatorclassificationTherearemanykindsofindustrialrobots,aboutclassificationproblems,atpresentinChi
32、na,notunifiedclassificationstandardinthistemporarybyusescope,drivemodeandclassifycontrolsystem,etc.1)AccordingtoutilitycentRobotscanbedividedintospecialmanipulatorandgeneralmanipulatortwo:1.specialmanipulatorItisattachedtothehostandhavefixedprogramwithoutindependentcontrolsystemmechanism.Specialmani
33、pulatorwithaction,lessworkobjectsingle,simplestructureandreliableoperationandcostlowcharacteristic,suitableforbigaffiliate,suchasautomaticmachine,automaticlineanddischargeofrobotandprocessingcentertheautomaticautomationproductionbatchcutterreplacementmanipulator.2.generalmanipulatorItisakindofindepe
34、ndentcontrolsystem,programvariable,actionflexiblemanipulator.Throughtheadjustmentmaybeusedindifferentoccasions,drivingsystemandlatticeperformancerange,itsactionsprogramisvariable,thecontrolsystemisindependent.Generalmanipulatorworkrange,higherprecisionandversatility,applicabletotheproductionofchangi
35、ngmediumandsmallbatchautomationproduction.Generalmanipulatoraccordingtothecontrolcanbedividedintodifferentwaysofthepositioningofthesimpletypeandservotypetwokinds:simpletypewithopeningandclosingtypecontrolpositioning,canonlybepositioncontrol:servotypehasservosystem,canpointpositioncontrolsystem,alsoc
36、anachievecontinuouscontrolpathcontrolgeneralservomodelgmmanipulatorbelongtonctype.2)Accordingtothedrivingwaypoints1.hydraulictransmissionmanipulatorBasedonthehydraulicpressuretodrivetheactuatorsmovementofthemanipulator.Itsmainfeaturesare:catchweightofseveralhundredkg,stabletransmission,compactstruct
37、ure,actionquick.Butforsealingdevicerequirements,otherwisetheoilleakagestrictlytotheworkingperformanceofthemanipulatorhasagreatinfluence,andnotinworkunderhightemperature,lowtemperature.Ifthemanipulatorbyapplyingelectro-hydraulicservodrivesystem,canachievecontinuoustrajectorycontrol,makethemanipulator
38、,butuniversalexpandelectro-hydraulicservovalvemanufacturingprecision,oilfilter,strictcostarehigh.2.pneumatictheories.supportedmanipulatorbasedonpressureofcompressedairtodrivetheactuatorsmovementofthemanipulator.Itsmainfeaturesare:mediasourcesisextremelyconvenient,outputforceissmall,pneumaticactionqu
39、ick,simplestructure,lowcost.However,duetotheairhascompressiblecharacteristicsandworkrate,thepoorstability,andimpactlowairpressure,catchincommonly30kilogramsheavyweightbelow,underthesameconditionsitcaughtthestructurethanhydraulicmanipulator,sosuitableforhigh-speed,lightload,hightemperatureanddustbige
40、nvironmenttoworkin.3.mechanicaltransmissionmanipulatorNamelythemechanicaltransmission(suchasCAM,connectingrod,gearandrack,intermittentmechanism,etc)drivenmanipulators.Itisakindspecialtheattachedtoworkhostmanipulator,itspowerispassedbyworkingmachinery.Itsmaincharacteristicisaccurateandreliable,action
41、frequencymotion,butstructureisbigger,actionprogramimmutable.Itisoftenusedtoworkanddischargeofhost.4.powertransmissionmanipulatorNamely,havespecialstructureinductionmotors,linearmotororpowerstep-motordirectdrivingactuatorsmovementofthemanipulator,becausedonotneedthechangeinthemiddle,sothemechanicalst
42、ructuresimpleorganization.Oneofthemanipulator,thelinearmotorspeedandlongerjourneysmovement,maintainingandeasytouse.Suchmanipulatorisstillsmall,butpromising.3)Accordingtothecontrolmodepoints1.positioncontrolItsmovementforspacebetweenpoint-to-pointcontrolmovementofmobile,onlythepositionofseveralpoints
43、intheprocess,unabletocontrolitstrajectory.Ifyouwouldcontrolpoints,youmustincreasemorethanthecomplexityoftheelectricalcontrolsystem.Currentuseofspecialandgeneralindustrialrobotsaresuch.2.continuoustrajectorycontrolItstrajectoryofanycontinuouscurveforthespace,itscharacteristicissetpointforunlimited,th
44、ewholemobileprocessundercontrol,canachievesmoothandaccuratemovement,anduserange,buttheelectricalcontrolsystemiscomplicated.ThiskindofindustrialrobotsgenerallyUSESsmallcomputercontrol.4.TheapplicationofindustrialrobotsinproductionanditssignificanceBecauseofitshighflexibilityandrobotinlife,manufacturi
45、ngperformanceinvariousfieldssuchasplaysaveryimportantrole.Itcancarrygoods,sortandproducts,andcaninharmfulenvironmenttoprotectlifesafetyoperation,insteadofmansheavylabor,soarewidelyusedinmachinerymanufacturing,lightindustryandneedsgoodshandlingvariousplaces.Inmodernindustry,theproductionprocessautoma
46、tionhasbecomeaprominenttheme.Theautomationlevelfromallwalksoflifebecomesmoreandmorehigh,modernprocessingworkshop,oftenwithmanipulatortoimproveproductionefficiency,completeworkersdifficulttocompleteordangerousjob.Availableinmechanicalindustry,processing,assemblingandotherproductionlargelyisnotcontinu
47、ous.Accordingtodataisintroduced,theAmericanproductioninallindustrialparts,75percentissmallbatchproduction;Metalprocessingproductionbatchofthree-quartersunder50piecesonthemachinepartsinrealtimeaccountedforonlypartsprocessingproductiontime5%.Hereyoucansee,loadingandunloading,handling,carryingtheproces
48、ssuchastheurgencyofindustrialrobotsmechanizedforrealizingtheseprocessesisautomatedandofgeneration.Atpresentthefinishedworkofmanipulatorareoftenusedtohave:injectionindustryfromthemoldtograbproductsandfastcuringtothenextwillproductproductionprocesses;Manipulatorprocessingindustryforpicking,feeding;Cas
49、tingindustryforhightemperaturemeltingextractedliquidetc.Robotsinautomationworkshopfortransportingmaterials,engagedinwelding,painting,assemblingprocessoperation,butwilloperateworkersfromonerous,drab,repeatliberatedthemanuallabor.Especiallyinhightemperature,dangerousorharmfulworkenvironment(radioactive,poisonousgasanddust,inflammable,explosive,strongnoise,etc.),usablepartsoperationinsteadofmanipulator.Atpresent,themanipulatorhasbeenwidelyusedi