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第一章 概述
第一章 概述
1. 1機(jī)械手的發(fā)展歷史
人類在改造自然的歷史進(jìn)程中，隨著對(duì)材料、能源和信息這三者的認(rèn)識(shí)和用，不斷創(chuàng)造各種工具（機(jī)器），滿足并推動(dòng)生產(chǎn)力的發(fā)展。
工業(yè)社會(huì)向信息社會(huì)發(fā)展，生產(chǎn)的自動(dòng)化，應(yīng)變性要求越來越高，原有機(jī)器系統(tǒng)就顯得龐雜而不靈活，這時(shí)人們就仿造自身的集體和功能，把控制機(jī)、動(dòng)力機(jī)、傳動(dòng)機(jī)、工作機(jī)綜合集中成一體，創(chuàng)造了“集成化”的機(jī)器系統(tǒng)——機(jī)器人。從而引起了生產(chǎn)系統(tǒng)的巨大變革，成為“人——機(jī)器人——?jiǎng)趧?dòng)對(duì)象”，或者“人——機(jī)器人——?jiǎng)恿C(jī)——工作機(jī)——?jiǎng)趧?dòng)對(duì)象”。
機(jī)器人技術(shù)從誕生到現(xiàn)在，雖然只有短短三十幾年的歷史，但是它卻顯示了旺盛的生命力。近年來，世界上對(duì)于發(fā)展機(jī)器人的呼聲更是有增無減，發(fā)達(dá)國家競相爭先，發(fā)展中國家急起直追。許多先進(jìn)技術(shù)國家已先后把發(fā)展機(jī)器人技術(shù)列入國家計(jì)劃，進(jìn)行大力研究。我國的機(jī)器人學(xué)的研究也已經(jīng)起步，并把“機(jī)器人開發(fā)研究”和柔性制造技術(shù)系統(tǒng)和設(shè)備開發(fā)研究等與機(jī)器人技術(shù)有關(guān)的研究課題列入國家“七五”、“八五”科技發(fā)展計(jì)劃以及“八六三”高科技發(fā)展計(jì)劃。
工業(yè)機(jī)械手是近代自動(dòng)控制領(lǐng)域中出現(xiàn)的一項(xiàng)新技術(shù)，并已經(jīng)成為現(xiàn)代機(jī)械制造生產(chǎn)系統(tǒng)中的一個(gè)重要組成部分。這種新技術(shù)發(fā)展很快，逐漸形成一門新興的學(xué)科——機(jī)械手工程。
1. 2機(jī)械手的發(fā)展意義
機(jī)械手的迅速發(fā)展是由于它的積極作用正日益為人們所認(rèn)識(shí)：其一、它能部分地代替人工操作；其二、它能按照生產(chǎn)工藝的要求，遵循一定的程序、時(shí)間和位置來完成工件的傳送和裝卸；其三、它能操作必要的機(jī)具進(jìn)行焊接和裝配。從而大大地改善工人的勞動(dòng)條件，顯著地提高勞動(dòng)生產(chǎn)率，加快實(shí)現(xiàn)工業(yè)生產(chǎn)機(jī)械化和自動(dòng)化的步伐。因而，受到各先進(jìn)工業(yè)國家的重視，投入大量的人力物力加以研究和應(yīng)用。
近年來隨著工業(yè)自動(dòng)化的發(fā)展機(jī)械手逐漸成為一門新興的學(xué)科，并得到了較快的發(fā)展。機(jī)械手廣泛地應(yīng)用于鍛壓、沖壓、鍛造、焊接、裝配、機(jī)加、噴漆、熱處理等各個(gè)行業(yè)。特別是在笨重、高溫、有毒、危險(xiǎn)、放射性、多粉塵等惡劣的勞動(dòng)環(huán)境中，機(jī)械手由于其顯著的優(yōu)點(diǎn)而受到特別重視。
機(jī)床上料機(jī)械手是典型的機(jī)電一體化設(shè)備，它可自動(dòng)地為機(jī)床抓取工件，取代操作人員頻繁取料，降低勞動(dòng)強(qiáng)度，提高工作效率。
總之，機(jī)械手是提高勞動(dòng)生產(chǎn)率，改善勞動(dòng)條件，減輕工人勞動(dòng)強(qiáng)度和實(shí)現(xiàn)工業(yè)生產(chǎn)自動(dòng)化的一個(gè)重要手段，國內(nèi)外都很重視它的應(yīng)用和發(fā)展。
1. 3機(jī)械手在機(jī)械制造中的應(yīng)用
1. 3.1國外應(yīng)用
美國制造155毫米的鋼彈體洛克福特軍械廠，從胚料加工開始到加工完畢直至彈體包裝都自動(dòng)進(jìn)行，不用人手去接觸，達(dá)到全自動(dòng)生產(chǎn)。
工業(yè)機(jī)械手還能用來代替人工進(jìn)行打磨、拋光、去毛刺和清理切屑等工作。例如，瑞典一家工廠打磨和拋光不銹鋼子彎頭時(shí)，采用ASEA機(jī)械手，提高加工效率30%以上，而且產(chǎn)品質(zhì)量穩(wěn)定，不傷害工人。又如：瑞典沃爾沃（Valov）公司在機(jī)械手上裝了三個(gè)環(huán)形磨輪裝置，用來對(duì)傳動(dòng)箱外表面去毛刺，比手工方法節(jié)省工時(shí)50%。
1. 3.2國內(nèi)應(yīng)用
國內(nèi)在金屬切削加工中，用機(jī)械手來完成刀具的自動(dòng)更換。如北京第二機(jī)床廠，北京第八機(jī)床廠，上海第二機(jī)床廠，上海第八機(jī)床廠，寧夏大河機(jī)床廠等單位研制的自動(dòng)換刀機(jī)床，均用機(jī)械手自動(dòng)更換刀具。在生產(chǎn)自動(dòng)線上，用機(jī)械手完成的傳遞和上下料，如：沈陽水泵廠深井泵體加工自動(dòng)線，無錫柴油機(jī)廠和甘肅汽車齒輪廠的齒胚的加工自動(dòng)線都采用了機(jī)械手。大連工礦車輛廠的800Kg側(cè)架的加工，采用機(jī)械手抓取、傳遞和安放并與一些機(jī)床組合成側(cè)架切削加工自動(dòng)線，提高效率10倍。
1. 4機(jī)械手的發(fā)展趨勢(shì)
國內(nèi)應(yīng)加強(qiáng)機(jī)械手基礎(chǔ)性能的實(shí)驗(yàn)以及基礎(chǔ)理論研究，克服和解決制造技術(shù)及其它存在的問題。提高機(jī)械手運(yùn)動(dòng)速度。尤其是應(yīng)用于沖壓行業(yè)中的機(jī)械手，以適應(yīng)提高生產(chǎn)率和符合生產(chǎn)節(jié)拍的需要。要研究解決機(jī)械手的運(yùn)動(dòng)速度和緩沖、定位技術(shù)。引進(jìn)國外先進(jìn)技術(shù)，培訓(xùn)專門技術(shù)人才，普及機(jī)械手有關(guān)知識(shí)。盡快解決機(jī)械手的定型設(shè)計(jì)、定點(diǎn)、定量生產(chǎn)以及配套件的生產(chǎn)和供應(yīng)問題，推進(jìn)機(jī)械手設(shè)計(jì)制造中的現(xiàn)代化（CAD/CAM）、標(biāo)準(zhǔn)化、系列化工作，以滿足國內(nèi)外市場的需求。目前工業(yè)機(jī)械手的應(yīng)用逐步擴(kuò)大，技術(shù)性能不斷提高，其發(fā)展趨勢(shì)是：擴(kuò)大機(jī)械手在工業(yè)上的應(yīng)用、提高工業(yè)機(jī)械手的工作性能、發(fā)展組合式機(jī)械手、研制具有“視覺”和“觸覺”的“智能機(jī)器人”。
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第二章 工業(yè)機(jī)械手
第二章 工業(yè)機(jī)械手
2.1 工業(yè)機(jī)械手的分類
目前對(duì)機(jī)械手尚無明確的分類標(biāo)準(zhǔn)，全國各她區(qū)尚未統(tǒng)一，我們按目前應(yīng)用比較多的兩個(gè)方面進(jìn)行分類:
（一)按所搬運(yùn)的工件重量(或稱臂力)分類
1.小型的—臂力在1公斤以下;
2.中型的--—臂力在1~30公斤以內(nèi)、
3.大型的—臂力在30公斤以上。
目前大多數(shù)下業(yè)機(jī)械手其搬運(yùn)的重量為中型的。
(二)按機(jī)能分類
1 簡易型通用機(jī)械手
有固定程序和可變程序兩種。固定程序由擋塊或凸輪轉(zhuǎn)鼓控制；可變程序用插銷板來給定程序。這種機(jī)械手多為氣動(dòng)或液壓驅(qū)動(dòng)，結(jié)構(gòu)簡單，成本較低，改變程序較容易。只適用于程序較簡單的點(diǎn)位控制，實(shí)現(xiàn)重復(fù)性操作作為一般單機(jī)服務(wù)的搬運(yùn)工作也完全夠。目前這種機(jī)械手?jǐn)?shù)量最多。
2示教再現(xiàn)通用機(jī)械手
這種機(jī)械由人工通過示教裝置領(lǐng)動(dòng)一遍，或者予先操作給定一遍，稱為示教。它由磁鼓（或磁帶、磁芯)把程序記錄下來，此后機(jī)械手就自動(dòng)按記憶的程序，重復(fù)地進(jìn)行鵝環(huán)動(dòng)作。這種機(jī)械手多為電液伺服控制。與前者比較，這種機(jī)械手可有較多的自由度，有可能實(shí)現(xiàn)連續(xù)軌跡控制，能進(jìn)行程序較復(fù)雜的作業(yè)，通用性較大。
3，具有視覺、觸覺的通用機(jī)械手
這種機(jī)械手由電子計(jì)算機(jī)控制，裝備有電視攝像管和傳感器等，因而具有視覺、熱感.觸覺等。這種機(jī)械手我網(wǎng)日前還處于研制階段。
再次按使用范圍，驅(qū)動(dòng)方式和控制系統(tǒng)等進(jìn)行分類。
按使用范圍分為專用機(jī)械手和通用機(jī)械手
專業(yè)機(jī)械手：一般附屬于工作機(jī)器設(shè)備，動(dòng)作程序固定，驅(qū)動(dòng)系統(tǒng)和控制系統(tǒng)可以獨(dú)立，亦可附屬于工作機(jī)器設(shè)備。
通用機(jī)械手：獨(dú)立工作的自動(dòng)化機(jī)械設(shè)備。在規(guī)格性能的范圍內(nèi)，其動(dòng)作程序是可變的，通過調(diào)整可在不同的場合使用，驅(qū)動(dòng)系統(tǒng)和控制系統(tǒng)是獨(dú)立的。
按驅(qū)動(dòng)方式分為液壓機(jī)械手，氣壓機(jī)械手，電動(dòng)機(jī)械手，機(jī)械式機(jī)械手。
液壓機(jī)械手：輸出力大，傳動(dòng)平穩(wěn)。如采用電液伺服機(jī)構(gòu)，可實(shí)現(xiàn)連續(xù)軌跡控制。液壓系統(tǒng)的密封要求嚴(yán)格，又問對(duì)油的粘度影響大。
氣壓機(jī)械手：氣源方便，輸出力小，氣壓傳動(dòng)速度快，結(jié)構(gòu)簡單，成本低。但工作不太穩(wěn)定，沖擊大，在同樣的抓重條件下它比液壓機(jī)械手的結(jié)構(gòu)大。
電動(dòng)機(jī)械手‘直接用直線電機(jī)，功率步進(jìn)電機(jī)和具有特殊結(jié)構(gòu)的感應(yīng)電動(dòng)機(jī)等來驅(qū)動(dòng)，動(dòng)力源簡單，不需要能量裝換機(jī)構(gòu)，維護(hù)使用方便。目前這種工業(yè)機(jī)械手尚在發(fā)展之中。
機(jī)械式機(jī)械手：由工作機(jī)構(gòu)帶動(dòng)機(jī)械手運(yùn)動(dòng)，工作可靠，動(dòng)作頻率高，結(jié)構(gòu)簡單，成本低。但動(dòng)作固定不可變。
按控制系統(tǒng)可分為點(diǎn)位控制和連續(xù)控制
點(diǎn)位控制：只能控制工業(yè)機(jī)械手運(yùn)動(dòng)的幾個(gè)點(diǎn)的位置，運(yùn)動(dòng)軌跡不受控制。目前使用的專用和通用工業(yè)機(jī)械手均屬于此類。
連續(xù)控制：工業(yè)機(jī)械手按給定的速度沿給定的線路（軌跡）實(shí)現(xiàn)平穩(wěn)準(zhǔn)確的運(yùn)動(dòng)。特點(diǎn)是設(shè)定點(diǎn)時(shí)無限的，整個(gè)運(yùn)動(dòng)過程都要求處在控制之下。這來工業(yè)機(jī)械手一般采用小型計(jì)算機(jī)控制。
機(jī)械手的手部是用來抓取并握緊工件的，它包括手爪和夾緊裝置兩部分。夾持工件的迅速、靈活、準(zhǔn)確和牢靠程度，直接影響到機(jī)械手的性能，是機(jī)械手的關(guān)鍵部件之一。
2.2工業(yè)機(jī)械手的驅(qū)動(dòng)方式
工業(yè)機(jī)械手的驅(qū)動(dòng)方法，按驅(qū)動(dòng)源分為氣壓驅(qū)動(dòng)、液壓驅(qū)動(dòng)、電力驅(qū)動(dòng)和機(jī)械驅(qū)功四種。
2.2.1氣壓驅(qū)動(dòng)
氣壓驅(qū)動(dòng)是一種簡單、可靠.經(jīng)濟(jì)的驅(qū)動(dòng)方式，是以壓縮空氣為動(dòng)力沉來驅(qū)動(dòng)機(jī)械手的執(zhí)行機(jī)構(gòu)，在機(jī)械加工行業(yè)中的機(jī)械手普遍采用氣壓驅(qū)動(dòng)，用來完成零件的傳送工作。
(一)氣壓驅(qū)動(dòng)的特點(diǎn)
氣壓驅(qū)動(dòng)的優(yōu)點(diǎn)是;容易獲得快速運(yùn)動(dòng)，機(jī)械手可引用一般工廠都有的壓縮空氣源，因此結(jié)構(gòu)簡單，成本低廉，空氣不象油那樣怕熱和易燃;維修方使，特別是和射流控制很容易結(jié)臺(tái)起來使用。其缺點(diǎn)是:氣限低，出力小，執(zhí)行機(jī)構(gòu)體積人;壓縮性大，阻尼緩沖效果差，較難實(shí)現(xiàn)中間位置的停止，若要求較高的定位精度，必須增設(shè)較復(fù)雜的緩沖、定位機(jī)構(gòu)。
(二)氣動(dòng)元件簡介
氣動(dòng)元件種類很多，應(yīng)用范圈也各不相同。目前所謂氣動(dòng)元件，是指氣壓傳動(dòng)中應(yīng)用的各種控制閥和執(zhí)行元件。一般不包括空氣壓縮機(jī)。
1.氣源三大件
分水濾氣器:功用是清除空氣中的水、油及灰塵;
調(diào)壓閥、亦稱減壓閥，能將管道中的空氣壓力保持在某一定數(shù)值:
油霧器:為保證氣動(dòng)裝置可靠地工作，用壓縮空氣將油液噴成霧狀，隨空氣一起流入氣動(dòng)裝置，進(jìn)行潤滑。
2.空氣控制閥這是氣動(dòng)元件中主要的一大類，其功用是控制空氣的壓力、流量及流動(dòng)方向，保證氣動(dòng)系統(tǒng)按規(guī)定的程序、速度進(jìn)行工作。
主要分為:
（1）壓力控制閥:包括壓力順序閥、卸荷閥等。
（2）流且控制閥:包括節(jié)流閥、單向節(jié)流閥等。
（3）方向控制閥。包括電磁換向閥、氣動(dòng)換向閥,電磁氣閥、單向閥、梭閥、延時(shí)閥.脈沖閥等。
（4）其他閥:包括各種手動(dòng)閥、腳踏操作閥、氣動(dòng)開關(guān)、按鈕、行程閥、轉(zhuǎn)閥等。
3.氣缸作為氣動(dòng)執(zhí)行元件，是一種重要的元件，一般分為單作用氣缸和雙作用氣缸兩種。其結(jié)構(gòu)形式很多，可完成往復(fù)直線運(yùn)動(dòng)和擺動(dòng)。
4 氣動(dòng)馬達(dá) 是實(shí)現(xiàn)旋轉(zhuǎn)運(yùn)動(dòng)的執(zhí)行元件。
5氣動(dòng)邏輯元件這是近年來新發(fā)展的一種氣動(dòng)元件，帶有可動(dòng)部件，其作用類似繼電器，可實(shí)現(xiàn)各種邏輯功能，直接對(duì)氣動(dòng)裝置進(jìn)行控制。其結(jié)構(gòu)類似小型閥門。
6.管路附件包括各種管接頭、消聲器、壓力繼電器、安個(gè)閥.壓力表等。
另外，還有一些氣液裝置，如氣一液泵、氣一液缸、氣一液增壓裝置等，一般也屬于氣動(dòng)元件的范圍。
2.2.2液壓驅(qū)動(dòng)
在機(jī)械手中液壓驅(qū)動(dòng)是用的最多的方式。利用油缸、油馬達(dá)和齒條齒輪實(shí)現(xiàn)直線運(yùn)動(dòng)，利用回轉(zhuǎn)油缸、油馬達(dá)與齒輪齒條或鏈輪鏈條實(shí)現(xiàn)回轉(zhuǎn)運(yùn)動(dòng)。
(一)液壓驅(qū)動(dòng)的特點(diǎn)
1.液壓驅(qū)動(dòng)的優(yōu)點(diǎn)
(1)壓力高，油壓可達(dá)10- I40公斤/厘米的壓力?？梢垣@得較大的操作力。
（2)液體的壓縮比較小，可以認(rèn)為沒有壓縮性，因此控制系統(tǒng)的滯后也幾乎沒有，動(dòng)作平穩(wěn)，快速反應(yīng)性好。
(3)壓力、流量容易調(diào)節(jié)，控制性能好，可以實(shí)現(xiàn)中間位置的停止，定位精度高。
（4)液壓操縱裝置形體小而且牢固，可耐振動(dòng)和沖擊。
（5）可無級(jí)變速
（6）液壓油有良好的潤滑性
2 液壓驅(qū)動(dòng)的特點(diǎn)
（1）需單獨(dú)配備液壓源
（2）管線系統(tǒng)比較復(fù)雜，成本較高
（3）液壓系統(tǒng)的泄露會(huì)嚴(yán)重影響其使用性能
（4）油的粘度對(duì)溫度的變化敏感
3液壓系統(tǒng)的組成
1動(dòng)力元件--油泵
2執(zhí)行元件--油缸，油馬達(dá)
3控制元件 各種控制閥等
4輔助元件--如郵箱，濾油器，油管和管接頭等
2.3 工業(yè)機(jī)械手的設(shè)計(jì)方法
機(jī)械手的手部是用來抓取并握緊工件的，它包括手爪和夾緊裝置兩部分。夾持工件的迅速、靈活、準(zhǔn)確和牢靠程度，直接影響到機(jī)械手的性能，是機(jī)械手的關(guān)鍵部件之一。
2.3.1手部的設(shè)計(jì)
手部的設(shè)計(jì)要求：
1.手部應(yīng)有足夠的夾緊力，除工件的重力外，還要能不使工件在傳送過程中松動(dòng)或脫落;
2.夾持范國要與工件相適應(yīng)。手爪的張開角度（手爪張開或閉合時(shí)兩個(gè)極限位置所擺動(dòng)的角度 )應(yīng)能適應(yīng)夾緊較大的直徑范圍 ;
3.夾持精度要高。既耍求工件在手爪內(nèi)定位準(zhǔn)確，又不夾壞工件表而。一般需根據(jù)工件的形狀選擇相應(yīng)的手爪結(jié)構(gòu):如元住形工件應(yīng)采用帶V形槽的手爪來定位，對(duì)于工件表面光潔度較高的，應(yīng)在手爪上鑲銅、夾布膠木或其他軟質(zhì)墊片等;
4.夾持動(dòng)作要迅速、靈活;
5.手部結(jié)構(gòu)要簡單緊湊，剛性好、自重輕、易磨損處應(yīng)便于更換，在腕部或臂部上安裝要方便，更換要迅速。
手部結(jié)構(gòu)
手爪的類型大致分為下列三種:
1.夾持式手爪，根據(jù)手爪的動(dòng)作可分為回轉(zhuǎn)型和平移型；根據(jù)手指的數(shù)量可分為雙指和多指式;根據(jù)夾持工件的方法又可分為外卡式和內(nèi)脹式兩種。
2.吸附式手爪。分為真空吸盤式和電磁吸盤式兩種。真空吸盤式又分為真空泵式和氣流負(fù)壓式。
3帶觸覺或視覺的手爪
The first chapter overview
1. 1 the development history of the manipulator
In transforming the nature of human history, along with to the material, energy and information of all three know and use, constantly creates all kinds of tools (machine), meet and promote the development of productivity.
Industrial society to the information society development, the production of automation, should be modified demand is higher and higher, the original machine system is not flexible, then confused people copy their collective and functions, to control machine, power machine and the motivation, work machine into a whole, comprehensive focus created "integrated" machine system-a robot. Which caused production system's huge transformation, become "people--the robot--labor object", or "people--the robot--work machine-power-labor object".
Robot technology from birth to now, although only just 30 years of history, but it does show the vigorous vitality. In recent years, the world development calls for robot is unabated, developed countries, developing countries are scrambling JiQiZhiZhui. Many countries already has the advanced technology development in national plan, robot technology vigorous research. China's robotics research also has started and the development research "and" robot flexible production technology and equipment system development and robotics research topics listed in the national "July 5," "" science and technology development plan and" 863 "high-tech development plan.
Industrial manipulator is modern automatic control field appeared in a new technology, and has become the modern machinery manufacturing production system of an important component. This new technology develops very quickly, gradually formed a new discipline-manipulator engineering.
1. 2 of the manipulator development significance
The rapid development of the manipulator is because of its positive role is increasingly been recognized: firstly, it can partly replace artificial operation; Secondly, it can in accordance with the requirements of the production process, follow a certain procedure, time and location to complete the transfer and loading and unloading; Thirdly, it can operate the necessary tools to carry out welding and assembly. Thus greatly improve the labor conditions, significantly improve labor productivity and the realization of the industrial production mechanization and automation pace. Therefore, by the advanced industrial countries, pay attention to invest a lot of manpower material resources to research and application.
In recent years with the development of industrial automation manipulator gradually become a new discipline, and the rapid development. Manipulator is widely used in forging press, stamping, forging, welding, assembling, and machining, paint, heat treatment, and other industries. Especially in heavy, high temperature, toxic and dangerous, radioactive, many dust etc of bad labor environment, due to its advantages of significant manipulator by special attention.
Machine feeding manipulator is typical of electromechanical equipment, it can automatically grab for machine tools, to replace the operators frequently take material, the reduction of labor intensity, improve work efficiency.
In short, manipulator is to improve labor productivity, improve working conditions, and to reduce the labor intensity and realize industrial production automation one of the important means for both at home and abroad, have paid great attention to the development and application of it.
1. 3 The three robots machinery manufacturing application
1. 3.1 foreign applications
The United States manufacturing 155 mm steel projectile Locke wrought-iron ford, from embryos materials processing start to processing finished until the body is automatic packaging, need not hand to contact, achieve automatic production.
Industrial robot can also be used to replace artificial for grinding, polishing, deburring and clean up scraps, etc. For example, a Swedish factory grinding and polishing stainless steel, the elbow son manipulator, the improvement of the machining efficiency ASEA 30% above, and the product quality is stable, does not damage the workers. And as: Sweden (Valov Volvo) in manipulator mounted three circular grinding device used to on the transmission box outside surface deburring, than manual method saves hours 50%.
1. 3.2 domestic application
In domestic metal cutting, with the robotic arm to complete the change automatic cutting tools. Such as Beijing second machine tool plant, Beijing, Shanghai second machine tool plant 8 machine tool plant, Shanghai machine tool plant in ningxia, the eighth unit such as machine tool plant developed automatically change the knife machine tool, all use manipulator change automatic cutting tools. In the production automatic line, with the transfer and complete manipulator unloading material, such as: shenyang pump factory deep well pumps body processing automatic line, wuxi diesel factory in gansu province and the company's tooth of embryo transfer machine processing using manipulator. Dalian CheLiangChang mining of 800 Kg side frame of processing, using manipulator grab, transfer and placed with some combination machine tools and into the side frame cutting processing automatic line, improve efficiency 10 times.
1. 4 And the development trend of the manipulator
China should strengthen the basic properties of the manipulator experiment and basic theory research, overcome and solve manufacturing technology and other problems. Improve the manipulator speed. Especially used in stamping industry, in order to adapt to the manipulator to improve productivity and meet the needs of the production of the beat. To study and solve the rate of movement of the manipulator and buffer, positioning technology. The introduction of foreign advanced technology, training specialized technical personnel, popularize knowledge about manipulator. As soon as possible to solve the manipulator modular design and the designated, quantitative production, and the production and supply of parts, to push forward modernization in the design and manufacture of manipulator (CAD/CAM), standardization and serialization work, at home and abroad to meet the demand of the market. At present the application of industrial robots gradually expand, technical performance, improve its development trend is: expanding the industrial application of manipulator, improve industrial manipulator work performance, development, research and develop a "combined manipulator vision" and "touch" "intelligent robot".
The second chapter industrial robots
2.1 the classification of industrial robot
At present there is no explicit manipulator classification standards, all the country she area, we have not agreed on at present application more of the two aspects of classification:
(a) to carry the weight of (or throwing arm) classification says
1. Small-arm strength in 1 kg the following;
2. Medium-arm strength in 1 ~ 30 kilograms, within
3. Large-in more than 30 kilograms arm strength.
Most current under the weight of the manipulator handling industry for medium.
(2) according to the function classification
1 simple type general manipulator
A fixed and variable program two kind of program. Fixed procedure block piece or by CAM drum control; Variable program with latch plate to the given program. This manipulator for pneumatic or hydraulic drive more, simple structure, low cost, the change process easier. Only applies to the program is simple, repetitive operation position control to realize as a general movement also single service is well. Currently the largest number manipulator.
2 and teach reproduce general manipulator
This machine by artificial through the demonstration device brought move again, or to operate a given first again, called the demonstration. It consists of a drum (or tape, magnetic cores) program down, then automatically according to the memory of the manipulator program, to repeat goose annulus movement. This manipulator electro-hydraulic servo control for more. Compared with the former, this manipulator can have more freedom, may achieve continuous track control, able to program more complex operation, general larger.
Three, has the sense of touch, general manipulator
The electronic computer control, by manipulator equipped with television camera tube and sensor etc, thus has the visual, burns. Touch, etc. This manipulator I nets prior to in the development stage.
Again, driving way to the using range and control system of classification.
According to use scope is divided into special manipulator and general manipulator
Professional manipulator: generally attached to the machine equipment, action program fixed, driving system and control system can be independent, and may also be attached to the machine equipment.
General: independent work the automation of the manipulator mechanical equipment. At the specifications, within the scope of the performance of the program is variable, and action by adjustment can be used in different occasions, driving system and control system is independent.
According to the driving way into hydraulic pressure manipulator, manipulator, electric manipulator, mechanical manipulator.
Hydraulic manipulator: output force large and stable transmission. If use electro-hydraulic servo mechanism that can be realized for the track control. Hydraulic system strictly, and ask the sealing requirements on oil viscosity influence.
Air pressure manipulator: convenient, output force air small, pneumatic transmission speed, simple structure, low cost. But the work is not so stable, impact, in the same catch heavy conditions than hydraulic structure of the manipulator it.
Electric manipulator 'direct linear motor, with power stepping motor and with special structure of the induction motor drive, such as power supply is simple, do not need energy outfit in institutions, maintenance is convenient to use. The current industrial robots is still in the developing.
Mechanical robot drives the manipulator by a working, reliable, action sports high frequency, simple structure, low cost. But action not variable fixed.
According to the control system can be divided into position control and continuous control
Position control: can only control industrial robots sport at the point of a few trajectory, had no control. Current use of special and general industrial robots all belong to such.
Continuous control: according to the given velocity industrial robots along a given line (track) to realize smooth accurate movement. Characteristic is set point of infinite, the whole movement when all requirements in the process under control. This to industrial robots generally USES the small computer control.
The manipulator hand is used to grab and hold the hand, it includes claws and clamping device two parts. Clamping workpiece quickly, flexible, and the accurate and reliable degree, directly affects the performance of the manipulator, is one of the key components of manipulator.
2.2 industrial robots drive mode
Industrial robots driver technique in pneumatic driving, driving the source into hydraulic drive, electric drive and mechanical drive power four.
2.2.1
Section 2.3.1 for ammeters pneumatic drive
Pneumatic drive is a simple, reliable. Economic drive mode, is the compressed air is the power to drive the sink of the manipulator actuators, mechanical processing industry in the widespread use of the manipulator pneumatic driving, to complete the transmitting parts.
(a) the characteristics of the pneumatic drive
The advantages of the pneumatic drive is; Easy to achieve a rapid movement, manipulator can be cited general factory are some compressed air source, so simple structure, low cost, and the air is not like oil that fear of heat and flammable; Maintenance party make, especially and jet control is easy to "sets up use. Its defect is: gas, the output, low limit small volume actuators; Large compressibility, damping buffer effect is poor, difficult to carry out the middle of stop, if demand higher precision, must add more complex buffer, positioning.
(2) pneumatic components profile
Pneumatic components is a lot of more phyletic, the application of the fan circle are also different. At present, it is to point to the so-called pneumatic components of the application of all kinds of pneumatic transmission control valves and execution element. Generally does not include air compressor.
1. 3 big source
Water filter the function is clear: the gas in the air and water, oil, and dust;
Governing valve, also say the pressure reducing valve, can will air in the pipeline pressure kept in a certain numerical:
Oil sprayer: to ensure reliable work, pneumatic device with compressed air will spray mist shape into oil, together with the air flow into pneumatic device for lubricant.
2. This is air control valves pneumatic components main a major categories, its function is to control the air pressure, flow and flow direction, ensure pneumatic system according to the stipulated procedures, speed.
Mainly divided into:
(1) pressure control valves: including pressure order valve, unloading valve, etc.
(2) flow and control valves: including the throttle valve, one-way throttle valve, etc.
(3) the direction control valves. Including electromagnetic reversing valves, pneumatic reversing valves, electromagnetic valve, check valve, spindle, YanShiFa. Pulse valve, etc.
(4) other valve: including all kinds of manual valve operation, foot valve, pneumatic switch, button, trip turn valve, valve, etc.
3. Cylinder as pneumatic actuators, is a kind of important components are generally divided into the single-acting cylinder and the cylinder dual action of two. The structural forms a lot, can complete reciprocating linear motion and swinging.
4 pneumatic motor rotation movement is to realize the actuators.
5 pneumatic logic element is this new development in recent years of a pneumatic components, with the moving parts, the role similar, and it can realize relay all kinds of logic function of pneumatic device, direct control. Its structure similar to small valve.
6. Pipeline fittings including all kinds of tube fittings, muffler, pressure relay, Ann a valve. Pressure gauge, etc.
In addition, there is some gas to liquid device, such as a gas pump, a liquid cylinder, gas gas a liquid pressurization device etc, general also belongs to the scope of the pneumatic components.
2.2.2 hydraulic drive
In mechanical hand hydraulic drive is use most of the way. Use oil cylinder, motor oil rack and realize, linear motion by rotary oil cylinder, motor and oil super-modulus gear or chain sprocket realize sport. Turn
(a) the characteristics of the hydraulic