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長(zhǎng)春理工大學(xué)光電信息學(xué)院 畢業(yè)設(shè)計(jì)（論文）題目申報(bào)表 院 別 機(jī)電工程分院 教 研 室 機(jī)電工程教研室 指導(dǎo)教師 吳翠紅 職稱 講師 職稱 年 月 日 題目名稱 機(jī)械手設(shè)計(jì) 題 目 類 別 設(shè)計(jì)類 √ 題目 性質(zhì) 結(jié)合實(shí)際 √ 專 業(yè) 機(jī)械電子工程 參加本題目 學(xué)生人數(shù) 1 論文類 虛擬題目 題目來(lái)源、教師準(zhǔn)備情況、主要培養(yǎng)學(xué)生哪些能力 本課題為機(jī)械手設(shè)計(jì)方面結(jié)合實(shí)際應(yīng)用的設(shè)計(jì)類題目，指導(dǎo)教師為機(jī)械電子專業(yè)研究生，從事電機(jī)控制課題及教學(xué)工作，對(duì)該課題已經(jīng)有較成熟的控制技術(shù)及理論。 該課題主要培養(yǎng)機(jī)械電子工程專業(yè)的學(xué)生將理論知識(shí)充分應(yīng)用于實(shí)際的能力，因?yàn)楸菊n題涉及了自動(dòng)控制原理、計(jì)算機(jī)控制技術(shù)、PLC與可編程控制器、液壓傳動(dòng)、電機(jī)及拖動(dòng)基礎(chǔ)、機(jī)械原理、機(jī)械設(shè)計(jì)等學(xué)科，使學(xué)生很好的把四年的所學(xué)綜合運(yùn)用及掌握。 題 目 內(nèi) 容 及 要 求 內(nèi)容：本設(shè)計(jì)是基于液壓傳動(dòng)、機(jī)械設(shè)計(jì)、PLC控制等學(xué)科綜合在一起的設(shè)計(jì)，初步完成了機(jī)械手的結(jié)構(gòu)設(shè)計(jì)和其控制功能，使機(jī)械手能與數(shù)控車床（數(shù)控銑床，加工中心等）組合最終形成生產(chǎn)線，實(shí)現(xiàn)加工過(guò)程（上料、加工、下料）的自動(dòng)化、無(wú)人化，從而減輕工人勞動(dòng)強(qiáng)度，節(jié)約加工輔助時(shí)間，提高生產(chǎn)效率和生產(chǎn)力。 要求： 1.完成資料翻譯一份（3000字以上） 2.完成畢業(yè)設(shè)計(jì)調(diào)研報(bào)告一份； 3.完成生產(chǎn)線上運(yùn)輸升降機(jī)的自動(dòng)化設(shè)計(jì)； 4.完成相關(guān)程序設(shè)計(jì)； 5.完成畢業(yè)設(shè)計(jì)說(shuō)明書一份； 6.完成相關(guān)圖紙。 實(shí) 踐 環(huán) 節(jié) 安 排 實(shí)習(xí) 吉林衫盛模塑科技有限公司實(shí)習(xí)（5個(gè)月） 實(shí)驗(yàn) 基于PLC的控制實(shí)驗(yàn) 計(jì)算機(jī)應(yīng)用 CAD制圖72機(jī)時(shí)； 中、外文參考資料： [4]李建勇. 機(jī)電一體化技術(shù)[M]. 北京:科學(xué)出版社,2004. [5]王孫安,杜海峰,任華. 機(jī)械電子工程[M]. 北京:科學(xué)出版社,2003. [2]徐灝等. 機(jī)械設(shè)計(jì)手冊(cè)[M]. 北京:機(jī)械工業(yè)出版社,2000. [7]陳紹華. 機(jī)械設(shè)備電器控制[M]. 華南理工大學(xué)出版社,2000. [4]李建勇. 機(jī)電一體化技術(shù)[M]. 北京:科學(xué)出版社,2004. [5]王孫安,杜海峰,任華. 機(jī)械電子工程[M]. 北京:科學(xué)出版社,2003. [6]吳廣玉,姜復(fù)興. 機(jī)器人工程導(dǎo)論[M]. 哈爾濱:哈爾濱工業(yè)大學(xué)出版社,1988. [1]王憲軍,趙存友. 液壓傳動(dòng)[M]. 哈爾濱:哈爾濱工程大學(xué)出版社,2002. [7]陳鐵鳴,王連明,王黎欽. 機(jī)械設(shè)計(jì)(修訂版)[M]. 哈爾濱:哈爾濱工業(yè)大學(xué)出版社,2003. [8]丁又青,朱新才. 一種新型型鋼翻面機(jī)液壓系統(tǒng)設(shè)計(jì)[J]. 中國(guó)科學(xué)院上海冶金研究所,2003,(5):128-129. 教研室主任 審批簽字 分 院 院 長(zhǎng) 審批簽字 注：題目類別和題目性質(zhì)請(qǐng)用符號(hào)√填在相應(yīng)欄內(nèi)。 長(zhǎng)春理工大學(xué)光電信息學(xué)院畢業(yè)設(shè)計(jì)（論文）登記表 分院 機(jī)電工程分院 專業(yè) 機(jī)械電子工程 班級(jí) 09522 學(xué)生姓名? 趙天舒 指導(dǎo)教師 吳翠紅 設(shè)計(jì)（論文）起止日期 2013年3月2—6月21 教研室主任 題目名稱（包括主要技術(shù)參數(shù)）及要求 1.題目：機(jī)械手設(shè)計(jì) 2.要求：1）設(shè)計(jì)合理的液壓傳動(dòng)系統(tǒng)，以及PLC控制程序，能合理地控制機(jī)械手上下料。 2）機(jī)械手的整體結(jié)構(gòu)設(shè)計(jì)，以及總裝圖、液壓系統(tǒng)圖、PLC接線圖及具體零件圖的繪制。 論文開題報(bào)告（設(shè)計(jì)方案論證） 應(yīng)該包括以下幾方面內(nèi)容： 1、本課題研究的意義；2、調(diào)研（社會(huì)調(diào)查）情況總結(jié)；3、查閱文獻(xiàn)資料情況（列出主要文獻(xiàn)清單)；4、擬采取的研究路線；5、進(jìn)度安排。 1.本課題研究的意義： 目前，在國(guó)內(nèi)很多工廠的生產(chǎn)線上數(shù)控機(jī)床裝卸工件仍由人工完成，勞動(dòng)強(qiáng)度大、生產(chǎn)效率低。為了提高生產(chǎn)加工的工作效率,降低成本,并使生產(chǎn)線發(fā)展成為柔性制造系統(tǒng),適應(yīng)現(xiàn)代自動(dòng)化大生產(chǎn),針對(duì)具體生產(chǎn)工藝,利用機(jī)器人技術(shù)，設(shè)計(jì)用一臺(tái)裝卸機(jī)械手代替人工工作，以提高勞動(dòng)生產(chǎn)率。 2.社會(huì)情況總結(jié)： 在指導(dǎo)教師的帶領(lǐng)指導(dǎo)下，我們參閱了大量文獻(xiàn)，并對(duì)機(jī)械手設(shè)計(jì)的有關(guān)工廠進(jìn)行了參觀了解，使我們的設(shè)計(jì)思路得到了很大啟發(fā)，并對(duì)我們?cè)O(shè)計(jì)過(guò)程當(dāng)中出現(xiàn)的問(wèn)題如何正確的解決有了一定的幫助。 3.參考文獻(xiàn)： [1]王憲軍, 趙存友. 液壓傳動(dòng)[M]. 哈爾濱: 哈爾濱工程大學(xué)出版社,2002. [2]徐灝等. 機(jī)械設(shè)計(jì)手冊(cè)[M]. 北京: 機(jī)械工業(yè)出版社,2000. [3]陳紹華. 機(jī)械設(shè)備電器控制[M]. 華南理工大學(xué)出版社,2000. [4]李建勇. 機(jī)電一體化技術(shù)[M]. 北京：科學(xué)出版社,2004. [5]王孫安, 杜海峰, 任華. 機(jī)械電子工程[M]. 北京: 科學(xué)出版社,2003. [6]吳廣玉，姜復(fù)興. 機(jī)器人工程導(dǎo)論[M]. 哈爾濱：哈爾濱工業(yè)大學(xué)出版社,1988. [7]陳鐵鳴, 王連明, 王黎欽. 機(jī)械設(shè)計(jì)(修訂版)[M] 哈爾濱:哈爾濱工業(yè)大學(xué)出版社,2003. [8]丁又青, 朱新才. 一種新型型鋼翻面機(jī)液壓系統(tǒng)設(shè)計(jì)[J]. 中國(guó)科學(xué)院上海冶金研究所,2003, (5): 128-129. [9]劉劍雄,韓建華. 物流自動(dòng)化搬運(yùn)機(jī)械手機(jī)電系統(tǒng)研究[J]. 機(jī)械與液 2003, (1): 126-128. [10]孫兵,趙斌, 施永康. 基于PLC的機(jī)械手混合驅(qū)動(dòng)控制[J]. 液壓與氣動(dòng)2005, (3): 37-39. [11]張啟玲, 何玉安. PLC在氣動(dòng)控制稱量包裝裝置中的應(yīng)用[J]. 中文科技期刊數(shù)據(jù)庫(kù),2005,(1). [12]潘沛霖, 楊宏, 吳偉光. 四自由度折疊式機(jī)械手的結(jié)構(gòu)設(shè)計(jì)與分析[J]. 哈爾濱工業(yè)大學(xué)學(xué)報(bào),1994,26(4): 90-95. 4.擬采取的研究路線： 指導(dǎo)老師下達(dá)任務(wù)→充分理解課題要解決的問(wèn)題→查閱文件和素材（圖書館、上網(wǎng)）→翻譯英文資料（達(dá)新校區(qū)主樓教室）→撰寫論文（達(dá)新校區(qū)主樓教室）→CAD繪圖→指導(dǎo)教師審查→修改、完善、定稿→準(zhǔn)備答辯 5.進(jìn)度安排： 3月2日—3月15日 查閱文件，書籍材料。 3月16日—3月29日 翻譯英文材料。 3月30日—4月26日 寫課題論文，寫初稿。 4月27日—5月17日 完善論文，定稿。 5月18日—6月7日 繪制設(shè)計(jì)草圖、打印。 6月8日—6月21日 整理，熟悉文件。 2 指導(dǎo)教師審閱意見(jiàn)： 2012.年 3 月 1 日 記事: 指導(dǎo)教師審閱意見(jiàn)： 2012年 6 月 10 日 中文： 機(jī)械手 機(jī)械手是近幾十年發(fā)展起來(lái)的一種高科技自動(dòng)化生產(chǎn)設(shè)備。工業(yè)機(jī)械手是工業(yè)機(jī)器人的一個(gè)重要分支。它的特點(diǎn)是可通過(guò)編程來(lái)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(jī)器各自的優(yōu)點(diǎn)，尤其體現(xiàn)了人的智能和適應(yīng)性。機(jī)械手作業(yè)的準(zhǔn)確性和各種環(huán)境中完成作業(yè)的能力，在國(guó)民經(jīng)濟(jì)各領(lǐng)域有著廣闊的發(fā)展前景。隨著工業(yè)自動(dòng)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(dòng)強(qiáng)度的同時(shí), 大大提高了勞動(dòng)生產(chǎn)率。但數(shù)控加工中常見(jiàn)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(dòng)化裝置。前者費(fèi)時(shí)費(fèi)工、效率低; 后者因設(shè)計(jì)復(fù)雜, 需較多繼電器,接線繁雜, 易受車體振動(dòng)干擾,而存在可靠性差、故障多、維修困難等問(wèn)題。可編程序控制器PLC控制的上下料機(jī)械手控制系統(tǒng)動(dòng)作簡(jiǎn)便、線路設(shè)計(jì)合理、具有較強(qiáng)的抗干擾能力, 保證了系統(tǒng)運(yùn)行的可靠性,降低了維修率, 提高了工作效率。機(jī)械手技術(shù)涉及到力學(xué)、機(jī)械學(xué)、電氣液壓技術(shù)、自動(dòng)控制技術(shù)、傳感器技術(shù)和計(jì)算機(jī)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(jī)械手的概述 機(jī)械手是一種能自動(dòng)化定位控制并可重新編程序以變動(dòng)的多功能機(jī)器，它有多個(gè)自由度，可用來(lái)搬運(yùn)物體以完成在各個(gè)不同環(huán)境中工作。在工資水平較低的中國(guó)，塑料制品行業(yè)盡管仍屬于勞動(dòng)力密集型，機(jī)械手的使用已經(jīng)越來(lái)越普及。那些電子和汽車業(yè)的歐美跨國(guó)公司很早就在它們?cè)O(shè)在中國(guó)的工廠中引進(jìn)了自動(dòng)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(guó)本土塑料加工廠也開始對(duì)機(jī)械手表現(xiàn)出越來(lái)越濃厚的興趣，因?yàn)樗麄円鎸?duì)工人流失率高，以及為工人交工傷費(fèi)帶來(lái)的挑戰(zhàn)。 隨著我國(guó)工業(yè)生產(chǎn)的飛躍發(fā)展，特別是改革開發(fā)以后，自動(dòng)化程度的迅速提高，實(shí)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(jìn)行加工、裝配等作業(yè)自化，已愈來(lái)愈引起我們重視。 機(jī)械手是模仿著人手的部分動(dòng)作，按給定的程序、軌跡和要求實(shí)現(xiàn)自動(dòng)抓取、搬運(yùn)或操作的自動(dòng)機(jī)械裝置。 在現(xiàn)實(shí)生活中，你是否會(huì)發(fā)現(xiàn)這樣一個(gè)問(wèn)題。在機(jī)械工廠里，加工零件裝料的時(shí)候是不是很煩的，勞動(dòng)生產(chǎn)率不高，生產(chǎn)成本大，有時(shí)候還會(huì)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(lái)代替呢，加工的時(shí)候只要有幾個(gè)人巡視一下，且可以二十四個(gè)小時(shí)飽和運(yùn)作，人行嗎？回答是肯定的，但是機(jī)械手可以來(lái)代替它。 生產(chǎn)中應(yīng)用機(jī)械手可以提高生產(chǎn)的自動(dòng)化水平和勞動(dòng)生產(chǎn)率;可以減輕勞動(dòng)強(qiáng)度、保證產(chǎn)品質(zhì)量、實(shí)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(jì)一個(gè)機(jī)械手，來(lái)用于生產(chǎn)實(shí)際中。 二﹑機(jī)械手的組成 機(jī)械手的形式是多種多樣的，有的較為簡(jiǎn)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(jī)構(gòu)、傳動(dòng)系統(tǒng)、控制系統(tǒng)和輔助裝置組成。 1. 執(zhí)行機(jī)構(gòu) 機(jī)械手的執(zhí)行機(jī)構(gòu)，由手、手腕、手臂、支柱組成。手是抓取機(jī)構(gòu)，用來(lái)夾緊和松開工件，與人的手指相仿，能完成人手的類似動(dòng)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(dòng)作。簡(jiǎn)單的機(jī)械手可以沒(méi)有手腕。支柱用來(lái)支撐手臂，也可以根據(jù)需要做成移動(dòng)。 2. 傳動(dòng)系統(tǒng) 執(zhí)行機(jī)構(gòu)的動(dòng)作要由傳動(dòng)系統(tǒng)來(lái)實(shí)現(xiàn)。常用機(jī)械手傳動(dòng)系統(tǒng)分機(jī)械傳動(dòng)、液壓傳動(dòng)、氣壓傳動(dòng)和電力傳動(dòng)等幾種形式。 3. 控制系統(tǒng) 機(jī)械手控制系統(tǒng)的主要作用是控制機(jī)械手按一定的程序、方向、位置、速度進(jìn)行動(dòng)作，簡(jiǎn)單的機(jī)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(shí)現(xiàn)動(dòng)傳動(dòng)系統(tǒng)的控制，使執(zhí)行機(jī)構(gòu)按要求進(jìn)行動(dòng)作．動(dòng)作復(fù)雜的機(jī)械手則要采用可編程控制器、微型計(jì)算機(jī)進(jìn)行控制。 三﹑ 機(jī)械手的分類和特點(diǎn) 機(jī)械手一般分為三類：第一類是不需要人工操作的通用機(jī)械手。它是一種獨(dú)立的不附屬于某一主機(jī)的裝置。它可以根據(jù)任務(wù)的需要編制程序，以完成各項(xiàng)規(guī)定的操作。它的特點(diǎn)是具備普通機(jī)械的性能之外，還具備通用機(jī)械、記憶智能的三元機(jī)械。第二類是需要人工才做的，稱為操作機(jī)。它起源于原子、軍事工業(yè)，先是通過(guò)操作機(jī)來(lái)完成特定的作業(yè)，后來(lái)發(fā)展到用無(wú)線電訊號(hào)操作機(jī)來(lái)進(jìn)行探測(cè)月球等。工業(yè)中采用的鍛造操作機(jī)也屬于這一范疇。第三類是用專用機(jī)械手，主要附屬于自動(dòng)機(jī)床或自動(dòng)線上，用以解決機(jī)床上下料和工件送。這種機(jī)械手在國(guó)外稱為“Mechanical Hand”，它是為主機(jī)服務(wù)的，由主機(jī)驅(qū)動(dòng)；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(diǎn)： (1) 機(jī)械手（上下料機(jī)械手、裝配機(jī)械手、搬運(yùn)機(jī)械手、堆垛機(jī)械手、助力機(jī)械手、真空搬運(yùn)機(jī)、 真空吸吊機(jī)、省力吊具、氣動(dòng)平衡器等）。 (2) 懸臂起重機(jī)（懸臂吊、電動(dòng)環(huán)鏈葫蘆吊、氣動(dòng)平衡吊等） (3) 導(dǎo)軌式搬運(yùn)系統(tǒng)（懸掛軌道、輕型軌道、單梁起重機(jī)、雙梁起重機(jī)） (4) 工業(yè)機(jī)械手的應(yīng)用 機(jī)械手是在機(jī)械化、自動(dòng)化生產(chǎn)過(guò)程中發(fā)展起來(lái)的一種新型裝置。近年來(lái)，隨著電子技術(shù)特別是電子計(jì)算機(jī)的廣泛應(yīng)用，機(jī)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(lái)的一門新興技術(shù)，它更加促進(jìn)了機(jī)械手的發(fā)展，使得機(jī)械手能更好地實(shí)現(xiàn)與機(jī)械化和自動(dòng)化的有機(jī)結(jié)合。 機(jī)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(dòng)、不知疲勞、不怕危險(xiǎn)、抓舉重物的力量比人手大等特點(diǎn)，因此，機(jī)械手已受到許多部門的重視，并越來(lái)越廣泛地得到了應(yīng)用，例如： (1) 機(jī)床加工工件的裝卸，特別是在自動(dòng)化車床、組合機(jī)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(lái)裝配印制電路板，在機(jī)械行業(yè)中它可以用來(lái)組裝零部件。 (3) 可在勞動(dòng)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(dòng)。 (4) 可在危險(xiǎn)場(chǎng)合下工作，如軍工品的裝卸、危險(xiǎn)品及有害物的搬運(yùn)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(yàn)。 助力機(jī)械手:又稱平衡器、平衡吊、省力吊具、手動(dòng)移載機(jī)等，是一種無(wú)重力化手動(dòng)承載系統(tǒng)，一種新穎的、用于物料搬運(yùn)時(shí)省力化操作的助力設(shè)備,屬于一種非標(biāo)設(shè)計(jì)的系列化產(chǎn)品。針對(duì)客戶應(yīng)用需求，量身定制的個(gè)案創(chuàng)作。 一種模擬人手操作的自動(dòng)機(jī)械，它可按固定程序抓取﹑搬運(yùn)物件或操持工具完成某些特定操作。應(yīng)用機(jī)械手可以代替人從事單調(diào)﹑重復(fù)或繁重的體力勞動(dòng)，實(shí)現(xiàn)生產(chǎn)的機(jī)械化和自動(dòng)化，代替人在有害環(huán)境下的手工操作，改善勞動(dòng)條件，保證人身安全。20世紀(jì)40年代后期，美國(guó)在原子能實(shí)驗(yàn)中，首先采用機(jī)械手搬運(yùn)放射性材料，人在安全室操縱機(jī)械手進(jìn)行各種操作和實(shí)驗(yàn)。50年代以后，機(jī)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(jī)床的輔助裝置在自動(dòng)機(jī)床﹑自動(dòng)生產(chǎn)線和加工中心中應(yīng)用，完成上下料或從刀庫(kù)中取放刀具并按固定程序更換刀具等操作。機(jī)械手主要由手部機(jī)構(gòu)和運(yùn)動(dòng)機(jī)構(gòu)組成。手部機(jī)構(gòu)隨使用場(chǎng)合和操作對(duì)象而不同，常見(jiàn)的有夾持﹑托持和吸附等類型。運(yùn)動(dòng)機(jī)構(gòu)一般由液壓﹑氣動(dòng)﹑電氣裝置驅(qū)動(dòng)。機(jī)械手可獨(dú)立地實(shí)現(xiàn)伸縮﹑旋轉(zhuǎn)和昇降等運(yùn)動(dòng)，一般有2～3個(gè)自由度。機(jī)械手廣泛用于機(jī)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(dòng)作功能，用以按固定程序抓取、搬運(yùn)物件或操作工具的自動(dòng)操作裝置。它可代替人的繁重勞動(dòng)以實(shí)現(xiàn)生產(chǎn)的機(jī)械化和自動(dòng)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(jī)械制造、冶金、電子、輕工和原子能等部門。 機(jī)械手通常用作機(jī)床或其他機(jī)器的附加裝置，如在自動(dòng)機(jī)床或自動(dòng)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(méi)有獨(dú)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(xiǎn)物品的主從式操作手也常稱為機(jī)械手。 機(jī)械手主要由手部和運(yùn)動(dòng)機(jī)構(gòu)組成。手部是用來(lái)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(yùn)動(dòng)機(jī)構(gòu)，使手部完成各種轉(zhuǎn)動(dòng)（擺動(dòng)）、移動(dòng)或復(fù)合運(yùn)動(dòng)來(lái)實(shí)現(xiàn)規(guī)定的動(dòng)作，改變被抓持物件的位置和姿勢(shì)...... 機(jī)械手是在自動(dòng)化生產(chǎn)過(guò)程中使用的一種具有抓取和移動(dòng)工件功能的自動(dòng)化裝置，它是在機(jī)械化、自動(dòng)化生產(chǎn)過(guò)程中發(fā)展起來(lái)的一種新型裝置。近年來(lái)，隨著電子技術(shù)特別是電子計(jì)算機(jī)的廣泛應(yīng)用，機(jī)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(lái)的一門新興技術(shù)，它更加促進(jìn)了機(jī)械手的發(fā)展，使得機(jī)械手能更好地實(shí)現(xiàn)與機(jī)械化和自動(dòng)化的有機(jī)結(jié)合。機(jī)械手能代替人類完成危險(xiǎn)、重復(fù)枯燥的工作，減輕人類勞動(dòng)強(qiáng)度，提高勞動(dòng)生產(chǎn)力。機(jī)械手越來(lái)越廣泛的得到了應(yīng)用，在機(jī)械行業(yè)中它可用于零部件組裝 ，加工工件的搬運(yùn)、裝卸，特別是在自動(dòng)化數(shù)控機(jī)床、組合機(jī)床上使用更普遍。目前，機(jī)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(gè)重要組成部分。把機(jī)床設(shè)備和機(jī)械手共同構(gòu)成一個(gè)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(qiáng)。當(dāng)工件變更時(shí)，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(duì)路的品種，提高產(chǎn)品質(zhì)量，更好地適應(yīng)市場(chǎng)競(jìng)爭(zhēng)的需要。而目前我國(guó)的工業(yè)機(jī)器人技術(shù)及其工程應(yīng)用的水平和國(guó)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(jī)械手的研究和開發(fā)直接影響到我國(guó)自動(dòng)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(jī)械手的研究設(shè)計(jì)是非常有意義的。 Manipulator 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 workpiece 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. Second, the composition, 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 can not wrist. Pillars used to support the arm can also be made mobile as needed. 2. 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 workpiece 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) Four, industrial machinery, 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 workpiece 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 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.