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機械手論文中英文資料外文翻譯文獻(xiàn)
湖 南 科 技 大 學(xué)
英文文獻(xiàn)翻譯
學(xué) 生 姓 名： 封陽財
學(xué) 院： 機電工程學(xué)院
專業(yè)及班級： 機械設(shè)計制造及其自動化6班
學(xué) 號： 1103010605
指導(dǎo)教師： 王起明
2015 年 5 月 30 日
英文部分
Driven by pneumatic hand in real life, handling and operation of the automatic mechanical device, you will find such a problem: the production of mechanical hand can improve the production level of automation and labor. Why did you choose mechanical design to provide power: pneumatic manipulator, pneumatic drive and other energy has the following advantages: air from the inexhaustible, after discharged into the atmosphere, do not need the recovery and processing; air viscosity is very small, pipe pressure loss is very small, which is convenient for far distance; compressed air pressure is low, so the pneumatic element material and system; handling or operation of automatic mechanical device.
In real life, will you find such a problem? In machinery factory, processing of parts loading is annoying, labor productivity is not high, production cost is high, and sometimes some man-made accidents happen, resulting in processors injured. Therefore, what can instead of it. As long as several people look at the process, and work for twenty-four hours, can they do? The answer is yes, but the robot can replace it.
Production of mechanical hand can improve the automation level of production and labor productivity; labor intensity can be reduced, to ensure product quality, and realize the safety in production; especially in the harsh environment of the high temperature, high pressure, low temperature, low pressure, dust, explosive, toxic and radioactive gases and so on, which can replace the normal work. I would like to design a robot here, to use in the actual production.
Why choose to design the manipulator pneumatic to provide power: pneumatic manipulator is the compressed air for the power source of the manipulator. Air pressure drivers have the following advantages compared with other energy drivers: (1) air inexhaustible, used after the air discharged into the atmosphere, do not need to recycle and deal with, do not pollute the environment. (environmental protection concept). (2) The air is very small, the pipeline pressure loss is small (general gas road resistance of less than 1/1000 of the circuit, easy to long-distance transport.(3) the compressed air working pressure is lower (generally 4 ~ 8 kg / per square centimeter), so the material and the manufacturing accuracy of the moving element can be reduced. (4) Compared with the hydraulic drive, its movement and reaction are quick, which is one of the advantages of gas outstanding. (5) Air medium clean will not degenerate, the pipeline is not easy to plug. But there were also some shortcomings: 1. Due to air compressibility, it can result in gas arteriovenous difference of the stability of the work, and make actuator movement speed and precision is not easy to control. 2. Because of the low pressure, the output force cannot be too large, in order to increase the output force, the structure of the pneumatic system will inevitably increase.
Air pressure drivers have the following advantages compared with other energy drivers:
(1) The air is inexhaustible, and is discharged into the atmosphere after being used, without the need to recycle and deal with the environment.
(2) Accidental or small leakage will not cause serious impact on production.
(3) The air viscosity is small, the pipeline pressure loss is also very small, and is easy for long-distance transmission.
(4) The compressed air has a lower working pressure, so the material and manufacturing precision of pneumatic components can be reduced. Generally speaking, the thrust of the reciprocating movement is better than the pneumatic economy under the 1~2 tons.
(5) Compared with the hydraulic transmission, its movement and the reaction are quick, which is one of the outstanding merits of pneumatic.
(6) Air medium clean will not degenerate, and the pipeline is not easy to plug.
(7) It can be safely used in flammable, explosive and dust occasions. It is also easy to realize overload and automatic protection.
二、Composition of Robot Manipulators
The form of the manipulator is varied, some relatively simple, some more complex, but the basic form of it is the same, generally by the executive mechanism, transmission system, control system and the auxiliary device composition.
1. Executive Mechanism
The executive mechanism of the manipulator consists of hand, wrist, arm, and pillar. The hand is the grab mechanism, used to clamp and release the work piece, with the human finger is similar, can complete the human hand like action. The wrist is the component that connects the finger and the arm, can carry on the upper and down, the left and right and the revolving movement. Simple manipulator cannot have the wrist. The strut is used to support the arm, and can be moved as needed.
2. Drive System
The action of the actuator is realized by the transmission system. The common mechanical hand drive system is divided into mechanical transmission, hydraulic transmission, pneumatic transmission and power transmission and other forms of.
3. Control System
The main role of mechanical hand control system is to control the robot according to certain procedures, direction, position, velocity of movement, but the simple manipulator is generally not set up special control system, using only travel switch, a relay, a control valve and a circuit can realize the dynamic control of the drive system, the executing agency according to the requirements of action. Complex movements of the manipulator adopt the programming controller, microcomputer control.
三、The Classification and Characteristics of Manipulator
Manipulator is generally divided into three categories: the first category doesn’t need manual operation of the general robot manipulator. It is an independent device that is not attached to a host. It can be compiled according to the task of the need to complete the provisions of the operation. It is characterized by ordinary mechanical performance, but also with general machinery, memory intelligent three yuan machinery. The second category needs man to do, which is called the operating machine. It originated in the atomic and military industries, first through the operating machine to complete a specific job, and later developed to use the radio signal operator to detect the moon and so on. The forging manipulator used in industry belongs to this category. The third category is to use special machine hand, mainly attached to the automatic machine tool or automatic line, to solve the machine tool and the work piece. This manipulator is called “Hand Mechanical” abroad, which is service for the host and driven by the main engine. Except for a few, the working procedure is usually fixed, so it is special. The main characteristics are below:
(1) manipulator (upper and lower feeding manipulator, manipulator for assembly, handling manipulator, stacking mechanical hands, mechanical power hands, vacuum handling machine, vacuum suction crane, labor-saving spreader, gas dynamic balancer etc.).
(2) A cantilever crane (a cantilever crane, an electric ring hoist hanging, and a pneumatic balancing suspension, etc.)
(3) The rail transit system (suspension track, light rail, single girder crane, double girder crane)
四、Industrial Manipulator Application
The manipulator is a new device which is developed in the process of mechanization and automation. In recent years, along with the electronic technology, especially the wide application of electronic computers, the research and manufacture of robots has become a new technology developing rapidly in the field of high technology, and it promotes the development of the manipulator, the manipulator can better realize the organic combination of mechanization and automation.
Although manipulator is inferior to manpower as flexible, it has to constantly repetitive work, not tired, not afraid of danger, snatch weight strength compared with manual features. Therefore, the manipulator has been the attention of many departments, and more and more widely has been used, such as:
(1) The loading and unloading of the work piece in the machine tool, especially in the automatic lathe, and the combination machine tool is generally used.
(2) Widely used in the assembly operation, it can be used in the electronics industry to assemble printed circuit boards, in the machinery industry it can be used to assemble parts.
(3) The work environment for the work of the monotonous redundant fatigue of the working conditions may be poor in working conditions to replace human labor.
(4) At hazardous situations, such as handling of military goods, dangerous goods and hazardous materials, etc.
(5) Development of the universe and oceans.
(6) Military and biomedical studies and trials.
Pneumatic manipulator: also known as the balancer, balance crane, labor-saving spreader, manual transfer machine, is a zero gravity manual load system, a novel, for material handling labor saving operation of power equipment, belonging to a non-standard design series products. The case creation is according to the customer application requirements.
A simulation of manual operation of the automatic machinery, it can complete certain operations according to the fixed program crawling, handling objects or manage tools. Application of the manipulator can replace people in the monotonous, repetitive or heavy manual labor, to realize the mechanization and automation of the production, instead of people in harmful environment of manual operation, improve working conditions, to guarantee the safety of human life. In the late twentieth Century 40s, the United States in atomic energy experiments, first of all, the manipulator carrying radioactive material, people in the safe room manipulator for various operations and experiments. Since the 1950s, manipulator gradually extended to industrial production department, used in high temperature and serious pollution of the pick and place the work piece loading and unloading of materials, also serves as a tool of auxiliary devices in automatic machine, automatic production line and processing application, complete material or from the knife from tool and press fixed program replacement tools operation. The manipulator is composed of the body and the movement mechanism. The mechanism of the hand is different with the use of the occasion and the operation object, and the common type of the mechanism is holding, holding and adsorbing. Motion mechanism is generally driven by hydraulic, pneumatic and electrical device. The manipulator can independently realize stretching, rotation and lifting of the movement, there are generally 3 to 2 degrees of freedom. Widely used in machinery manufacturing, metallurgy, light industry and atomic energy sector.
It can imitate the function of some movements of the hand and arm, and it can be used for the automatic operation device of the fixed program to grab and carry the object or operation tools. It can replace the heavy labor to realize the mechanization and automation of production, can operate in hazardous environments to protect the personal safety, so it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy and other departments. Manipulator pass commonly used for machine tools or other machinery of the additional device, such as in automatic machine or automatic production line handling and transmission parts, in the machining center replacement tool, generally do not have independent control device. Some devices need to operate by direct manipulation, such as for atomic energy department manages the dangerous goods of master-slave manipulator also often referred to as the manipulator.
The manipulator is composed of the hand and the movement mechanism. Hand is used to hold the work piece or tool parts, according to be caught hold object shape, size, weight, material and operational requirements and a variety of structural forms, such as clip to type, type and adsorption type support. Movement mechanism, so that the hand to complete a variety of rotation (swing), mobile or composite movement to achieve the provisions of the action, change the object's position and posture...
The manipulator is used in the automatic production process a kind of automation device with function of grasping and moving the work piece, which is developed in the mechanization and automation of the production process of a new type of device. In recent years, along with the electronic technology, especially the wide application of electronic computers, the research and manufacture of robots has become a new technology developing rapidly in the field of high technology, which promotes the development of the manipulator. The manipulator can better realize the organic combination of mechanization and automation. Mechanical hand can replace human to complete the dangerous, redundant and dry work, reduce human labor intensity, and improve labor productivity. Manipulator is more and more widely applied, in mechanical industry, it can be used for parts assembly, machining a work piece handling, loading and unloading, especially in the automation of CNC machine tools, modular machine tool of more general use. At present, the manipulator has become an important part of the FMS and the flexible manufacturing cell FMC. The machine tool equipment and mechanical hand is composed of a flexible manufacturing system and flexible manufacturing unit, and it adapts to medium and small batch production, which can save a large work piece conveying device, compact structure, and strong adaptability. When the work piece is changed, the flexible production system is easy to change, is conducive to enterprises to continuously update the marketable varieties, improve product quality, better adapt to the needs of market competition. At present our country industrial robot technology and its application in engineering level and foreign than there is still a certain distance, the application scale and industrialization level is low, manipulator research and development directly affect the improvement of the automation level of production in China, from the economic and technical considerations are necessary. Therefore, the research and design of robot manipulator is very meaningful.
中文部分
在現(xiàn)實生活中，搬運或操作的自動機械裝置,你是否會發(fā)現(xiàn)這樣一個問題:生產(chǎn)中應(yīng)用機械手可以提高生產(chǎn)的自動化水平和勞動生；為什么選設(shè)計機械手用氣動來提供動力：氣動機械手；用氣壓驅(qū)動與用其他能源驅(qū)動比較有以下優(yōu)點：空氣取之不竭，用過之后排入大氣，不需回收和處理；空氣的粘性很小，管路中壓力損失也就很小，便于遠(yuǎn)距；壓縮空氣的工作壓力較低，因此對氣動元件的材質(zhì)和制；搬運或操作的自動機械裝置。
在現(xiàn)實生活中，你是否會發(fā)現(xiàn)這樣一個問題。在機械工廠里，加工零件裝料的時候是不是很煩的，勞動生產(chǎn)率不高，生產(chǎn)成本大，有時候還會發(fā)生一些人為事故，導(dǎo)致加工者受傷。想想看用什么可以來代替呢，加工的時候只要有幾個人巡視一下，且可以二十四個小時飽和運作，能行嗎？回答是肯定的，但是機械手可以來代替它。
生產(chǎn)中應(yīng)用機械手可以提高生產(chǎn)的自動化水平和勞動生產(chǎn)率；可以減輕勞動強度、保證產(chǎn)品質(zhì)量、實現(xiàn)安全生產(chǎn)；尤其是在高溫、高壓、低溫、低壓、粉塵、易爆、有毒氣體和放射性等惡劣的環(huán)境中能夠代替人進(jìn)行正常的工作。想到這里我就很想設(shè)計一個機械手，來用于生產(chǎn)實際中。
為什么選著設(shè)計機械手用氣動來提供動力：氣動機械手是指以壓縮空氣為動力源驅(qū)動的機械手。用氣壓驅(qū)動與其他能源驅(qū)動比較有以下優(yōu)點：1.空氣取之不竭，用過之后排入大氣，不需要回收和處理，不污染環(huán)境。（環(huán)保的概念）2.空氣的沾性很小，管路中壓力損失也很小（一般氣路阻力損失不到油路的千分之一），便于遠(yuǎn)距離輸送。3.壓縮空氣的工作壓力較低(一般為4～8公斤/每平方厘米)，因此對動元件的材質(zhì)和制造精度要求可以降低。4.與液壓傳動相比，它的動作和反應(yīng)都快，這是氣動突出的優(yōu)點之一。5.空氣介質(zhì)清潔，亦不會變質(zhì)，管路不易堵塞。但是也有它美中不足的地方：1.由于空氣的可壓縮性，致使氣動工作的穩(wěn)定性差，因而造成執(zhí)行機構(gòu)運動速度和定為精度不易控制。2.由于使用氣壓較低，輸出力不可能太大，為了增加輸出力，必然使整個氣動系統(tǒng)的結(jié)構(gòu)尺寸加大。
用氣壓驅(qū)動與用其他能源驅(qū)動比較有以下優(yōu)點：
1.空氣取之不竭，用過之后排入大氣，不需回收和處理，不污染環(huán)境。2.偶然的或少量的泄漏不致對生產(chǎn)發(fā)生嚴(yán)重的影響。
3.空氣的粘性很小，管路中壓力損失也就很小，便于遠(yuǎn)距離輸送。
4.壓縮空氣的工作壓力較低，因此對氣動元件的材質(zhì)和制造精度要求可以降低。一般說來，往復(fù)運動推力在1~2噸以下采用氣動經(jīng)濟(jì)性較好。
5.與液壓傳動相比，它的動作和反應(yīng)都快，這是氣動的突出優(yōu)點之一。
6.空氣介質(zhì)清潔，亦不會變質(zhì)，管路不易堵塞。
7.它可安全地應(yīng)用在易燃、易爆和粉塵大的場合。又便于實現(xiàn)過載自動保護(hù)。
二﹑機械手的組成
機械手的形式是多種多樣的，有的較為簡單，有的較為復(fù)雜，但基本的組成形式是相同的，一般由執(zhí)行機構(gòu)、傳動系統(tǒng)、控制系統(tǒng)和輔助裝置組成。
1. 執(zhí)行機構(gòu)
機械手的執(zhí)行機構(gòu)，由手、手腕、手臂、支柱組成。手是抓取機構(gòu)，用來夾緊和松開工件，與人的手指相仿，能完成人手的類似動作。手腕是連接手指與手臂的元件，可以進(jìn)行上下、左右和回轉(zhuǎn)動作。簡單的機械手可以沒有手腕。支柱用來支撐手臂，也可以根據(jù)需要做成移動。
2. 傳動系統(tǒng)
執(zhí)行機構(gòu)的動作要由傳動系統(tǒng)來實現(xiàn)。常用機械手傳動系統(tǒng)分機械傳動、液壓傳動、氣壓傳動和電力傳動等幾種形式。
3. 控制系統(tǒng)
機械手控制系統(tǒng)的主要作用是控制機械手按一定的程序、方向、位置、速度進(jìn)行動作，簡單的機械手一般不設(shè)置專用的控制系統(tǒng)，只采用行程開關(guān)、繼電器、控制閥及電路便可實現(xiàn)動傳動系統(tǒng)的控制，使執(zhí)行機構(gòu)按要求進(jìn)行動作．動作復(fù)雜的機械手則要采用可編程控制器、微型計算機進(jìn)行控制。
三﹑ 機械手的分類和特點
機械手一般分為三類：第一類是不需要人工操作的通用機械手。它是一種獨立的不附屬于某一主機的裝置。它可以根據(jù)任務(wù)的需要編制程序，以完成各項規(guī)定的操作。它的特點是具備普通機械的性能之外，還具備通用機械、記憶智能的三元機械。第二類是需要人工才做的，稱為操作機。它起源于原子、軍事工業(yè)，先是通過操作機來完成特定的作業(yè)，后來發(fā)展到用無線電訊號操作機來進(jìn)行探測月球等。工業(yè)中采用的鍛造操作機也屬于這一范疇。第三類是用專用機械手，主要附屬于自動機床或自動線上，用以解決機床上下料和工件送。這種機械手在國外稱為“Mechanical Hand”，它是為主機服務(wù)的，由主機驅(qū)動；除少數(shù)以外，工作程序一般是固定的，因此是專用的。 主要特點：
(1) 機械手（上下料機械手、裝配機械手、搬運機械手、堆垛機械手、助力機械手、真空搬運機、 真空吸吊機、省力吊具、氣動平衡器等）。
(2) 懸臂起重機（懸臂吊、電動環(huán)鏈葫蘆吊、氣動平衡吊等）
(3) 導(dǎo)軌式搬運系統(tǒng)（懸掛軌道、輕型軌道、單梁起重機、雙梁起重機）
四、 工業(yè)機械手的應(yīng)用
機械手是在機械化、自動化生產(chǎn)過程中發(fā)展起來的一種新型裝置。近年來，隨著電子技術(shù)特別是電子計算機的廣泛應(yīng)用，機器人的研制和生產(chǎn)已成為高技術(shù)領(lǐng)域內(nèi)迅速發(fā)展起來的一門新興技術(shù)，它更加促進(jìn)了機械手的發(fā)展，使得機械手能更好地實現(xiàn)與機械化和自動化的有機結(jié)合。
機械手雖然目前還不如人手那樣靈活，但它具有能不斷重復(fù)工作和勞動、不知疲勞、不怕危險、抓舉重物的力量比人手大等特點，因此，機械手已受到許多部門的重視，并越來越廣泛地得到了應(yīng)用，例如：
(1) 機床加工工件的裝卸，特別是在自動化車床、組合機床上使用較為普遍。
(2) 在裝配作業(yè)中應(yīng)用廣泛，在電子行業(yè)中它可以用來裝配印制電路板，在機械行業(yè)中它可以用來組裝零部件。
(3) 可在勞動條件差，單調(diào)重復(fù)易子疲勞的工作環(huán)境工作，以代替人的勞動。
(4) 可在危險場合下工作，如軍工品的裝卸、危險品及有害物的搬運等。
(5) 宇宙及海洋的開發(fā)。
(6) 軍事工程及生物醫(yī)學(xué)方面的研究和試驗。
助力機械手:又稱平衡器、平衡吊、省力吊具、手動移載機等，是一種無重力化手動承載系統(tǒng)，一種新穎的、用于物料搬運時省力化操作的助力設(shè)備,屬于一種非標(biāo)設(shè)計的系列化產(chǎn)品。針對客戶應(yīng)用需求，量身定制的個案創(chuàng)作。
一種模擬人手操作的自動機械，它可按固定程序抓取﹑搬運物件或操持工具完成某些特定操作。應(yīng)用機械手可以代替人從事單調(diào)﹑重復(fù)或繁重的體力勞動，實現(xiàn)生產(chǎn)的機械化和自動化，代替人在有害環(huán)境下的手工操作，改善勞動條件，保證人身安全。20世紀(jì)40年代后期，美國在原子能實驗中，首先采用機械手搬運放射性材料，人在安全室操縱機械手進(jìn)行各種操作和實驗。50年代以后，機械手逐步推廣到工業(yè)生產(chǎn)部門，用于在高溫﹑污染嚴(yán)重的地方取放工件和裝卸材料，也作為機床的輔助裝置在自動機床﹑自動生產(chǎn)線和加工中心中應(yīng)用，完成上下料或從刀庫中取放刀具并按固定程序更換刀具等操作。機械手主要由手部機構(gòu)和運動機構(gòu)組成。手部機構(gòu)隨使用場合和操作對象而不同，常見的有夾持﹑托持和吸附等類型。運動機構(gòu)一般由液壓﹑氣動﹑電氣裝置驅(qū)動。機械手可獨立地實現(xiàn)伸縮﹑旋轉(zhuǎn)和昇降等運動，一般有2～3個自由度。機械手廣泛用于機械製造﹑冶金﹑輕工和原子能等部門。
能模仿人手和臂的某些動作功能，用以按固定程序抓取、搬運物件或操作工具的自動操作裝置。它可代替人的繁重勞動以實現(xiàn)生產(chǎn)的機械化和自動化，能在有害環(huán)境下操作以保護(hù)人身安全，因而廣泛應(yīng)用于機械制造、冶金、電子、輕工和原子能等部門。 機械手通常用作機床或其他機器的附加裝置，如在自動機床或自動生產(chǎn)線上裝卸和傳遞工件，在加工中心中更換刀具等，一般沒有獨立的控制裝置。有些操作裝置需要由人直接操縱，如用于原子能部門操持危險物品的主從式操作手也常稱為機械手。
機械手主要由手部和運動機構(gòu)組成。手部是用來抓持工件（或工具）的部件，根據(jù)被抓持物件的形狀、尺寸、重量、材料和作業(yè)要求而有多種結(jié)構(gòu)形式，如夾持型、托持型和吸附型等。運動機構(gòu)，使手部完成各種轉(zhuǎn)動（擺動）、移動或復(fù)合運動來實現(xiàn)規(guī)定的動作，改變被抓持物件的位置和姿勢......
機械手是在自動化生產(chǎn)過程中使用的一種具有抓取和移動工件功能的自動化裝置，它是在機械化、自動化生產(chǎn)過程中發(fā)展起來的一種新型裝置。近年來，隨著電子技術(shù)特別是電子計算機的廣泛應(yīng)用，機器人的研制和生產(chǎn)已成為高技術(shù)領(lǐng)域內(nèi)迅速發(fā)展起來的一門新興技術(shù)，它更加促進(jìn)了機械手的發(fā)展，使得機械手能更好地實現(xiàn)與機械化和自動化的有機結(jié)合。機械手能代替人類完成危險、重復(fù)枯燥的工作，減輕人類勞動強度，提高勞動生產(chǎn)力。機械手越來越廣泛的得到了應(yīng)用，在機械行業(yè)中它可用于零部件組裝 ，加工工件的搬運、裝卸，特別是在自動化數(shù)控機床、組合機床上使用更普遍。目前，機械手已發(fā)展成為柔性制造系統(tǒng)FMS和柔性制造單元FMC中一個重要組成部分。把機床設(shè)備和機械手共同構(gòu)成一個柔性加工系統(tǒng)或柔性制造單元，它適應(yīng)于中、小批量生產(chǎn)，可以節(jié)省龐大的工件輸送裝置，結(jié)構(gòu)緊湊，而且適應(yīng)性很強。當(dāng)工件變更時，柔性生產(chǎn)系統(tǒng)很容易改變，有利于企業(yè)不斷更新適銷對路的品種，提高產(chǎn)品質(zhì)量，更好地適應(yīng)市場競爭的需要。而目前我國的工業(yè)機器人技術(shù)及其工程應(yīng)用的水平和國外比還有一定的距離，應(yīng)用規(guī)模和產(chǎn)業(yè)化水平低，機械手的研究和開發(fā)直接影響到我國自動化生產(chǎn)水平的提高，從經(jīng)濟(jì)上、技術(shù)上考慮都是十分必要的。因此，進(jìn)行機械手的研究設(shè)計是非常有意義的。