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設(shè)計任務(wù)書 一、 畢業(yè)設(shè)計題目 液動機械手系統(tǒng)設(shè)計 二、畢業(yè)設(shè)計提供的原始數(shù)據(jù)資料 液動機械手設(shè)計， 包括總體設(shè)計，各執(zhí)行機構(gòu)設(shè)計，氣動系統(tǒng)設(shè)計、計算，控制系統(tǒng)設(shè)計。 能夠?qū)崿F(xiàn)160Kg重量工件傳送，傳送過程中能實現(xiàn)抓取、提升、回轉(zhuǎn)、下降、松開 等動作，且動作順序、動作速度可調(diào)。用液動驅(qū)動，PLC控制。 A.用途:用于精鍛機上料。 B.設(shè)計技術(shù)參數(shù):a)抓重160公斤(夾持式手部) b)自由度數(shù)：5個自由度。c)最大工作半徑279mm。d)手臂最大中心高684.5mm C.手臂運動參數(shù) 夾緊行程 50mm 夾緊速度 50mm/s 升降行程 170mm 升降速度 50mm/s 回轉(zhuǎn)范圍 115° 回轉(zhuǎn)速度 40°/s D.定位方式：行程開關(guān) E.定位精度：士0.5mm F.緩沖方式：液壓緩沖器 G.驅(qū)動方式：液壓傳動 H.控制方式：點位程序控制(采用PLC) 三、畢業(yè)設(shè)計應(yīng)完成主要內(nèi)容： 1、畢業(yè)設(shè)計說明書： 總體方案論證 機械手的手臂結(jié)構(gòu)方案設(shè)計 機械手的驅(qū)動方案設(shè)計 機械手的總體結(jié)構(gòu)設(shè)計 2、畢業(yè)設(shè)計圖紙： 1、畫圖6張（2張A0，2張A1，2張A2）。 四、畢業(yè)生應(yīng)提交的畢業(yè)設(shè)計資料要求 1、畢業(yè)設(shè)計說明書： 2、畢業(yè)設(shè)計圖紙： 1、 機械手的總裝圖。 2、 部件圖 。 3、 液壓系統(tǒng)圖。 4、PLC安裝接線圖。 五、設(shè)計進度安排（從第六周起） 序號 時間 周次 設(shè)計任務(wù)完成的內(nèi)容及質(zhì)量要求 1 3月31日~4月6日 第6周 收集 查詢 整理 有關(guān)的資料 2 04月07日~04月13 日 第7周 總體方案研討,確定及草圖繪制 3 04月14日~04月20 日 第8周 確定及草圖繪制 4 04月21日~04月27 日 第9周 結(jié)構(gòu)理論計算 5 04月28日~05月04 日 第10周 繪制機械手總圖的正式圖 6 05月05日~05月11 日 第11周 部件裝配圖 7 05月12日~05月18 日 第12周 繪制零件圖 8 05月19日~05月25 日 第13周 繪制零件 9 05月26日~06月01 日 第14周 繪制梯形圖 10 06月02日~06月08 日 第15周 打說明書 11 6月9日~6月15日 第16周 打印和裝訂 12 6月16日~6月22日 第17周 教師評閱和開始答辯 六、主要參考文獻資料 1、工具書： 機床圖冊 機床設(shè)計手冊 機械零件設(shè)計手冊 2、參考資料： 七、簽字欄 簽 字 欄 畢業(yè)生 姓名 專業(yè) 班級 要求設(shè)計工作起止日期 教師審核 指導(dǎo)教師（簽字） 日期 201 年 月 日 教研室主任審查（簽字） 日期 201 年 月 日 系主任批準（簽字） 日期 201 年 月 日 第2頁 共 2頁 翻譯文獻 English? Robot?developed?in?recent?decades?as?high-tech?automated?production?equipment.?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?machines,?in?particular,?reflects?the?people's?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?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?intensive,?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?system?for?materials?up?and?down?movement?is?simple,?circuit?design?is?reasonable,?with?a?strong?anti-jamming?capability,?ensuring?the?system's?reliability,?reduced?maintenance?rate,?and?improve?work?efficiency.? ?Robot?technology?related?to?mechanics,?mechanics,?electrical?hydraulic?technology,?automatic?control?technology,?sensor?technology?and?computer?technology?and?other?fields?of?science,?is?a?cross-disciplinary?integrated?technology.? First,?An?overview?of?industrial?manipulator?? Robot?is?a?kind?of?positioning?control?can?be?automated?and?can?be?re-programmed?to?change?in?multi-functional?machine,?which?has?multiple?degrees?of?freedom?can?be?used?to?carry?an?object?in?order?to?complete?the?work?in?different?environments.?Low?wages?in?China,?plastic?products?industry,?although?still?a?labor-intensive,?mechanical?hand?use?has?become?increasingly?popular.?Electronics?and?automotive?industries?that?Europe?and?the?United?States?multinational?companies?very?early?in?their?factories?in?China,?the?introduction?of?automated?production.?But?now?the?changes?are?those?found?in?industrial-intensive?South?China,?East?China's?coastal?areas,?local?plastic?processing?plants?have?also?emerged?in?mechanical?watches?began?to?become?increasingly?interested?in,?because?they?have?to?face?a?high?turnover?rate?of?workers,?as?well?as?for?the?workers?to?pay?work-related?injuries?fee?challenges.?With?the?rapid?development?of?China's?industrial?production,?especially?the?reform?and?opening?up?after?the?rapid?increase?in?the?degree?of?automation?to?achieve?the?work?piece?handling,?steering,?transmission?or?operation?of?brazing,?spray?gun,?wrenches?and?other?tools?for?processing?and?assembly?operations?since,?which?has?more?and?more?attracted?our?attention.?Robot?is?to?imitate?the?manual?part?of?the?action,?according?to?a?given?program,?track?and?requirements?for?automatic?capture,?handling?or?operation?of?the?automatic?mechanical?devices.? ?In?real?life,?you?will?find?this?a?problem.?In?the?machine?shop,?the?processing?of?parts?loading?time?is?not?annoying,?and?labor?productivity?is?not?high,?the?cost?of?production?major,?and?sometimes?man-made?incidents?will?occur,?resulting?in?processing?were?injured.?Think?about?what?could?replace?it?with?the?processing?time?of?a?tour?as?long?as?there?are?a?few?people,?and?can?operate?24?hours?saturated?human?right?The?answer?is?yes,?but?the?robot?can?come?to?replace?it.?Production?of?mechanical?hand?can?increase?the?automation?level?of?production?and?labor?productivity;?can?reduce?labor?intensity,?ensuring?product?quality,?to?achieve?safe?production;?particularly?in?the?high-temperature,high pressure,? low?temperature,?low?pressure,?dust,?explosive,?toxic?and?radioactive?gases?such?as?poor?environment?can?replace?the?normal?working?people.?Here?I?would?like?to?think?of?designing?a?robot?to?be?used?in?actual?production.? Why?would?a?robot?designed?to?provide?a?pneumatic?power:?pneumatic?robot?refers?to?the?compressed?air?as?power?source-driven?robot.?With?pressure-driven?and?other?energy-driven?comparison?have?the?following?advantages:?1.?Air?inexhaustible,?used?later?discharged?into?the?atmosphere,?does?not?require?recycling?and?disposal,?do?not?pollute?the?environment.?(Concept?of?environmental?protection)?2.?Air?stick?is?small,?the?pipeline?pressure?loss?is?small?(typically?less?than?asphalt?gas?path?pressure?drop?of?one-thousandth),?to?facilitate?long-distance?transport.?3.?Compressed?air?of?the?working?pressure?is?low?(usually?4?to?8?kg?/?per?square?centimeter),?and?therefore?moving?the?material?components?and?manufacturing?accuracy?requirements?can?be?lowered.?4.?With?the?hydraulic?transmission,?compared?to?its?faster?action?and?reaction,?which?is?one?of?the?advantages?pneumatic?outstanding.?5.?The?air?cleaner?media,?it?will?not?degenerate,?not?easy?to?plug?the?pipeline.?But?there?are?also?places?where?it?fly?in?the?ointment:1.?As?the?compressibility?of?air,?resulting?in?poor?aerodynamic?stability?of?the?work,?resulting?in?the?implementing?agencies?as?the?precision?of?the?velocity?and?not?easily?controlled.?2.?As?the?use?of?low?atmospheric?pressure,?the?output?power?cannot?be?too?large;?in?order?to?increase?the?output?power?is?bound?to?the?structure?of?the?entire?pneumatic?system?size?increased.?With?pneumatic?drive?and?compare?with?other?energy?sources?drive?has?the?following?advantages:?Air?inexhaustible,?used?later?discharged?into?the?atmosphere,?without?recycling?and?disposal,?do?not?pollute?the?environment.?Accidental?or?a?small?amount?of?leakage?would?not?be?a?serious?impact?on?production.?Viscosity?of?air?is?small,?the?pipeline?pressure?loss?also?is?very?small,?easy?long-distance?transport.?The?lower?working?pressure?of?compressed?air,?pneumatic?components?and?therefore?the?material?and?manufacturing?accuracy?requirements?can?be?lowered.?In?general,?reciprocating?thrust?in?1?to?2?tons?pneumatic?economy?is?better.?Compared?with?the?hydraulic?transmission,?and?its?faster?action?and?reaction,?which?is?one?of?the?outstanding?merits?of?pneumatic.?Clean?air?medium,?it?will?not?degenerate,?not?easy?to?plug?the?pipeline.?It?can?be?safely?used?in?flammable,?explosive?and?the?dust?big?occasions.?Also?easy?to?realize?automatic?overload?protection.?? Second，The?composition?of?mechanical?hand? mechanical?hand?Robot?in?the?form?of?a?variety?of?forms,?some?relatively?simple,?some?more?complicated,?but?the?basic?form?is?the?same?as?the?composition?of?the?Usually?by?the?implementing?agencies,?transmission?systems,?control?systems?and?auxiliary?devices?composed.? 1.?Implementing?agencies?? Manipulator?executing?agency?by?the?hands,?Wrists,?arms,?pillars.?Hands?are?crawling?institutions,?is?used?to?clamp?and?release?the?workpiece,?and?similar?to?human?fingers,?to?complete?the?staffing?of?similar?actions.?Wrist?and?fingers?and?the?arm?connecting?the?components?can?be?up?and?down,?left,?and?rotary?movement.?A?simple?mechanical?hand?cannot?wrist.?Pillars?used?to?support?the?arm?can?also?be?made?mobile?as?needed.?? 2.?Transmission?The?actuator? Transmission?The?actuator?to?be?achieved?by?the?transmission?system.?Sub-transmission?system?commonly?used?manipulator?mechanical?transmission,?hydraulic?transmission,?pneumatic?and?electric?power?transmission?and?other?drive?several?forms.?? 3. ?Control?System? Manipulator?control?system's?main?role?is?to?control?the?robot?according?to?certain?procedures,?direction,?position,?speed?of?action,?a?simple?mechanical?hand?is?generally?not?set?up?a?dedicated?control?system,?using?only?trip?switches,?relays,?control?valves?and?circuits?can?be?achieved?dynamic?drive?system?control,?so?that?implementing?agencies?according?to?the?requirements?of?action.?Action?will?have?to?use?complex?programmable?robot?controller,?the?micro-computer?control.? Three,?mechanical?hand?classification?and?characteristics?? Robots?are?generally?divided?into?three?categories:?the?first?is?the?general?machinery?does?not?require?manual?hand.?It?is?an?independent?not?affiliated?with?a?particular?host?device.?It?can?be?programmed?according?to?the?needs?of?the?task?to?complete?the?operation?of?the?provisions.?It?is?characterized?with?ordinary?mechanical?performance,?also?has?general?machinery,?memory,?intelligence?ternary?machinery.?The?second?category?is?the?need?to?manually?do?it,?called?the?operation?of?aircraft.?It?originated?in?the?atom,?military?industry,?first?through?the?operation?of?machines?to?complete?a?particular?job,?and?later?developed?to?operate?using?radio?signals?to?carry?out?detecting?machines?such?as?the?Moon.?Used?in?industrial?manipulator?also?fall?into?this?category.?The?third?category?is?dedicated?manipulator,?the?main?subsidiary?of?the?automatic?machines?or?automatic?lines,?to?solve?the?machine?up?and?down?the?work?piece?material?and?delivery.?This?mechanical?hand?in?foreign?countries?known?as?the?"Mechanical?Hand",?which?is?the?host?of?services,?from?the?host-driven;?exception?of?a?few?outside?the?working?procedures?are?generally?fixed,?and?therefore?special.?Main?features:?First,?mechanical?hand?(the?upper?and?lower?material?robot,?assembly?robot,?handling?robot,?stacking?robot,?help?robot,?vacuum?handling?machines,?vacuum?suction?crane,?labor-saving?spreader,?pneumatic?balancer,?etc.).Second,?cantilever?cranes(cantilever?crane,?electric?chain?hoist?crane,?air?balance?the?hanging,?etc.)Third,?rail-type?transport?system?(hanging?rail,?light?rail,?single?girder?cranes,?double-beam?crane)?machinery,?? Four,?Application?and?development?of?industrial?manipulator? Application?of?hand?Manipulator?in?the?mechanization?and?automation?of?the?production?process?developed?a?new?type?of?device.?In?recent?years,?as?electronic?technology,?especially?computer?extensive?use?of?robot?development?and?production?of?high-tech?fields?has?become?a?rapidly?developed?a?new?technology,?which?further?promoted?the?development?of?robot,?allowing?robot?to?better?achieved?with?the?combination?of?mechanization?and?automation.?Although?the?robot?is?not?as?flexible?as?staff,?but?it?has?to?the?continuous?duplication?of?work?and?labor,?I?do?not?know?fatigue,?not?afraid?of?danger,?the?power?snatch?weight?characteristics?when?compared?with?manual?large,?therefore,?mechanical?hand?has?been?of?great?importance?to?many?sectors,?and?increasingly?has?been?applied?widely,?for?example:?(1)Machining?the?work?piece?loading?and?unloading,?especially?in?the?automatic?lathe,?combination?machine?tool?use?is?more?common.(2)In?the?assembly?operations?are?widely?used?in?the?electronics?industry,?it?can?be?used?to?assemble?printed?circuit?boards,?in?the?machinery?industry?.It?can?be?used?to?assemble?parts?and?components.?(3)The?working?conditions?may?be?poor,?monotonous,?repetitive?easy?to?sub-fatigue?working?environment?to?replace?human?labor.(4)May?be?in?dangerous?situations,?such?as?military?goods?handling,?dangerous?goods?and?hazardous?materials?removal?and?so?on.(5)Universe?and?ocean?development.(6)Military?engineering?and?biomedical?research?and?testing.?Help?mechanical?hands:?also?known?as?the?balancer,?balance?suspended,?labor-saving?spreader,?manual?Transfer?machine?is?a?kind?of?weightlessness?of?manual?load?system,?a?novel,?time-saving?technology?for?material?handling?operations?booster?equipment,?belonging?to?kinds?of?non-standard?design?of?series?products.?Customer?application?needs,?creating?customized?cases.?Manual?operation?of?a?simulation?of?the?automatic?machinery,?it?can?be?a?fixed?program draws﹑handling?objects?or?perform?household?tools?to?accomplish?certain?specific?actions.?Application?of?robot?can?replace?the?people?engaged?in?monotonous?﹑?repetitive?or?heavy?manual?labor,?the?mechanization?and?automation?of?production,?instead?of?people?in?hazardous?environments?manual?operation,?improving?working?conditions?and?ensure?personal?safety.?? The?late?20th?century,?40,?the?United?States?atomic?energy?experiments,?the?first?use?of?radioactive?material?handling?robot,?human?robot?in?a?safe?room?to?manipulate?various?operations?and?experimentation.?50?years?later,?manipulator?and?gradually?extended?to?industrial?production?sector,?for?the?temperatures,?polluted?areas,?and?loading?and?unloading?to?take?place?the?work?piece?material,?but?also?as?an?auxiliary?device?in?automatic?machine?tools,?machine?tools,?automatic?production?lines?and?processing?center?applications,?the?completion?of?the?upper?and?lower?material,?or?From?the?library?take?place?knife?and?so?on?according?to?fixed?procedures?for?the?replacement?operation.?Robot?body?mainly?by?the?hand?and?sports?institutions.?Agencies?with?the?use?of?hands?and?operation?of?objects?of?different?occasions,?often?there?are?clamping﹑support?and?adsorption?type?of?care.?Movement?organs?are?generally?hydraulic?pneumatic?﹑?electrical?device?drivers.?Manipulator?can?be?achieved?independently?retractable﹑rotation?and?lifting?movements,?generally?2?to?3?degrees?of?freedom.?Robots?are?widely?used?in?metallurgical?industry,?machinery?manufacture,?light?industry?and?atomic?energy?sectors.?Can?mimic?some?of?the?staff?and?arm?motor?function,?a?fixed?procedure?for?the?capture,?handling?objects?or?operating?tools,?automatic?operation?device.?It?can?replace?human?labor?in?order?to?achieve?the?production?of?heavy?mechanization?and?automation?that?can?operate?in?hazardous?environments?to?protect?the?personal?safety,?which?is?widely?used?in?machinery?manufacturing,?metallurgy,?electronics,?light?industry?and?nuclear?power?sectors.?Mechanical?hand?tools?or?other?equipment?commonly?used?for?additional?devices,?such?as?the?automatic?machines?or?automatic?production?line?handling?and?transmission?of?the?workpiece,?the?replacement?of?cutting?tools?in?machining?centers,?etc.?generally?do?not?have?a?separate?control?device.?Some?operating?devices?require?direct?manipulation?by?humans;?such?as?the?atomic?energy?sector?performs?household?hazardous?materials?used?in?the?master-slave?manipulator?is?also?often?referred?to?as?mechanical?hand.? Manipulator?mainly?by?hand?and?sports?institutions.?Task?of?hand?is?holding?the?workpiece?(or?tool)?components,?according?to?grasping?objects?by?shape,?size,?weight,?material?and?operational?requirements?of?a?variety?of?structural?forms,?such?as?clamp?type,?type?and?adsorption-based?care?such?as?holding.?Sports?organizations,?so?that?the?completion?of?a?variety?of?hand?rotation?(swing),?mobile?or?compound?movements?to?achieve?the?required?action,?to?change?the?location?of?objects?by?grasping?and?posture.?Robot?is?the?automated?production?of?a?kind?used?in?the?process?of?crawling?and?moving?piece?features?automatic?device,?which?is?mechanized?and?automated?production?process?developed?a?new?type?of?device.?In?recent?years,?as?electronic?technology,?especially?computer?extensive?use?of?robot?development?and?production?of?high-tech?fields?has?become?a?rapidly?developed?a?new?technology,?which?further?promoted?the?development?of?robot,?allowing?robot?to?better?achieved?with?the?combination?of?mechanization?and?automation.?Robot?can?replace?humans?completed?the?risk?of?duplication?of?boring?work,?to?reduce?human?labor?intensity?and?improve?labor?productivity.?Manipulator?has?been?applied?more?and?more?widely,?in?the?machinery?industry,?it?can?be?used?for?parts?assembly,?work?piece handling,?loading?and?unloading,?particularly?in?the?automation?of?CNC?machine?tools,?modular?machine?tools?more?commonly?used.? At?present,?the?robot?has?developed?into?a?FMS?flexible?manufacturing?systems?and?flexible?manufacturing?cell?in?an?important?component?of?the?FMC.?The?machine?tool?equipment?and?machinery?in?hand?together?constitute?a?flexible?manufacturing?system?or?a?flexible?manufacturing?cell,?it?was?adapted?to?small?and?medium?volume?production,?you?can?save?a?huge?amount?of?the?work?piece?conveyor?device,?compact,?and?adaptable.?When?the?work?piece?changes,?flexible?production?system?is?very?easy?to?change?will?help?enterprises?to?continuously?update?the?marketable?variety,?improve?product?quality,?and?better?adapt?to?market?competition.?At?present,?China's?industrial?robot?technology?and?its?engineering?application?level?and?comparable?to?foreign?countries?there?is?a?certain?distance,?application?and?industrialization?of?the?size?of?the?low?level?of?robot?research?and?development?of?a?direct?impact?on?raising?the?level?of?automation?in?China,?from?the?economy,?technical?considerations?are?very?necessary.?Therefore,?the?study?of?mechanical?hand?design?is?very?meaningful. 中文? 機械手是近幾十年發(fā)展起來的一種高科技自動化生產(chǎn)設(shè)備。工業(yè)機械手是工業(yè)機器人的一個重要分支。它的特點是可通過編程來完成各種預(yù)期的作業(yè)任務(wù)，在構(gòu)造和性能上兼有人和機器各自的優(yōu)點，尤其體現(xiàn)了人的智能和適應(yīng)性。機械手作業(yè)的準確性和各種環(huán)境中完成作業(yè)的能力，在國民經(jīng)濟各領(lǐng)域有著廣闊的發(fā)展前景。隨著工業(yè)自動化的發(fā)展,出現(xiàn)了數(shù)控加工中心,它在減輕工人的勞動強度的同時,大大提高了勞動生產(chǎn)率。但數(shù)控加工中常見的上下料工序,?通常仍采用人工操作或傳統(tǒng)繼電器控制的半自動化裝置。前者費時費工、效率低;?后者因設(shè)計復(fù)雜,?需較多繼電器,接線繁雜,易受車體振動干擾,而存在可靠性差、故障多、維修困難等問題。可編程序控制器?PLC?控制的上下料機械手控制系統(tǒng)動作簡便、線路設(shè)計合理、具有較強的抗干擾能力,保證了系統(tǒng)運行的可靠性,降低了維修率,?提高了工作效率。? 機械手技術(shù)涉及到力學(xué)、機械學(xué)、電氣液壓技術(shù)、自動控制技術(shù)、傳感器技術(shù)和計算機技術(shù)等科學(xué)領(lǐng)域，是一門跨學(xué)科綜合技術(shù)。? 一、工業(yè)機械手的概述?? 機械手是一種能自動化定位控制并可重新編程序以變動的多功能機器，它有多個自由度，?可用來搬運物體以完成在各個不同環(huán)境中工作。?在工資水平較低的中國，塑料制品行業(yè)盡管仍屬于勞動力密集型，機械手的使用已經(jīng)越來越普及。那些電子和汽車業(yè)的歐美跨國公司很早就在它們設(shè)在中國的工廠中引進了自動化生產(chǎn)。但現(xiàn)在的變化是那些分布在工業(yè)密集的華南、華東沿海地區(qū)的中國本土塑料加工廠也開始對機械手表現(xiàn)出越來越濃厚的興趣，因為他們要面對工人流失率高，以及為工人交工傷費帶來的挑戰(zhàn)。隨著我國工業(yè)生產(chǎn)的飛躍發(fā)展，特別是改革開發(fā)以后,自動化程度的迅速提高，實現(xiàn)工件的裝卸、轉(zhuǎn)向、輸送或操作釬焊、噴槍、扳手等工具進行加工、裝配等作業(yè)自動化，已愈來愈引起我們重視。?機械手是模仿著人手的部分動作，按給定的程序、軌跡和要求實現(xiàn)自動抓取、?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，人行嗎？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)，因此對傳動元件的材質(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：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。偶然的或少量的泄漏不致對生產(chǎn)發(fā)生嚴重的影響。空氣的粘性很小，管路中壓力損失也就很小，便于遠距離輸送。?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)濟性較好。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。空氣介質(zhì)清潔，亦不會變質(zhì)，管路不易堵塞。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.? 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)用發(fā)展?? 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