344車床上下料機械手,車床,上下,機械手 第一章 概述0第一章 概述1. 1 機械手的發(fā)展歷史人類在改造自然的歷史進程中，隨著對材料、能源和信息這三者的認識和用，不斷創(chuàng)造各種工具（機器） ，滿足并推動生產(chǎn)力的發(fā)展。工業(yè)社會向信息社會發(fā)展，生產(chǎn)的自動化，應變性要求越來越高，原有機器系統(tǒng)就顯得龐雜而不靈活，這時人們就仿造自身的集體和功能，把控制機、動力機、傳動機、工作機綜合集中成一體，創(chuàng)造了“集成化”的機器系統(tǒng)——機器人。從而引起了生產(chǎn)系統(tǒng)的巨大變革，成為“人——機器人——勞動對象” ，或者“人——機器人——動力機——工作機——勞動對象” 。機器人技術從誕生到現(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，世界上對于發(fā)展機器人的呼聲更是有增無減，發(fā)達國家競相爭先，發(fā)展中國家急起直追。許多先進技術國家已先后把發(fā)展機器人技術列入國家計劃，進行大力研究。我國的機器人學的研究也已經(jīng)起步，并把“機器人開發(fā)研究”和柔性制造技術系統(tǒng)和設備開發(fā)研究等與機器人技術有關的研究課題列入國家“七五” 、 “八五”科技發(fā)展計劃以及“八六三”高科技發(fā)展計劃。工業(yè)機械手是近代自動控制領域中出現(xiàn)的一項新技術，并已經(jīng)成為現(xiàn)代機械制造生產(chǎn)系統(tǒng)中的一個重要組成部分。這種新技術發(fā)展很快，逐漸形成一門新興的學科——機械手工程。1. 2 機械手的發(fā)展意義機械手的迅速發(fā)展是由于它的積極作用正日益為人們所認識：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、它能操作必要的機具進行焊接和裝配。從而大大地改善工人的勞動條件，顯著地提高勞動生產(chǎn)率，加快實現(xiàn)工業(yè)生產(chǎn)機械化和自動化的步伐。因而，受到各先進工業(yè)國家的重視，投入大量的人力物力加以研究和應用。近年來隨著工業(yè)自動化的發(fā)展機械手逐漸成為一門新興的學科，并得到了較快的發(fā)展。機械手廣泛地應用于鍛壓、沖壓、鍛造、焊接、裝配、機加、噴漆、熱處理等各個行業(yè)。特別是在笨第一章 概述1重、高溫、有毒、危險、放射性、多粉塵等惡劣的勞動環(huán)境中，機械手由于其顯著的優(yōu)點而受到特別重視。機床上料機械手是典型的機電一體化設備，它可自動地為機床抓取工件，取代操作人員頻繁取料，降低勞動強度，提高工作效率。總之，機械手是提高勞動生產(chǎn)率，改善勞動條件，減輕工人勞動強度和實現(xiàn)工業(yè)生產(chǎn)自動化的一個重要手段，國內(nèi)外都很重視它的應用和發(fā)展。1. 3 機械手在機械制造中的應用1. 3.1 國外應用美國制造 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進行，不用人手去接觸，達到全自動生產(chǎn)。工業(yè)機械手還能用來代替人工進行打磨、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，采用 ASEA 機械手，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）公司在機械手上裝了三個環(huán)形磨輪裝置，用來對傳動箱外表面去毛刺，比手工方法節(jié)省工時 50%。1. 3.2 國內(nèi)應用國內(nèi)在金屬切削加工中，用機械手來完成刀具的自動更換。如北京第二機床廠，北京第八機床廠，上海第二機床廠，上海第八機床廠，寧夏大河機床廠等單位研制的自動換刀機床，均用機械手自動更換刀具。在生產(chǎn)自動線上，用機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線，無錫柴油機廠和甘肅汽車齒輪廠的齒胚的加工自動線都采用了機械手。大連工礦車輛廠的 800Kg 側架的加工，采用機械手抓取、傳遞和安放并與一些機床組合成側架切削加工自動線，提高效率 10 倍。第一章 概述21. 4 機械手的發(fā)展趨勢國內(nèi)應加強機械手基礎性能的實驗以及基礎理論研究，克服和解決制造技術及其它存在的問題。提高機械手運動速度。尤其是應用于沖壓行業(yè)中的機械手，以適應提高生產(chǎn)率和符合生產(chǎn)節(jié)拍的需要。要研究解決機械手的運動速度和緩沖、定位技術。引進國外先進技術，培訓專門技術人才，普及機械手有關知識。盡快解決機械手的定型設計、定點、定量生產(chǎn)以及配套件的生產(chǎn)和供應問題，推進機械手設計制造中的現(xiàn)代化（CAD/CAM） 、標準化、系列化工作，以滿足國內(nèi)外市場的需求。目前工業(yè)機械手的應用逐步擴大，技術性能不斷提高，其發(fā)展趨勢是：擴大機械手在工業(yè)上的應用、提高工業(yè)機械手的工作性能、發(fā)展組合式機械手、研制具有“視覺”和“觸覺”的“智能機器人” 。第二章 工業(yè)機械手0第二章 工業(yè)機械手2.1 工業(yè)機械手的分類目前對機械手尚無明確的分類標準，全國各她區(qū)尚未統(tǒng)一，我們按目前應用比較多的兩個方面進行分類:（一)按所搬運的工件重量(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)機械手其搬運的重量為中型的。(二)按機能分類1 簡易型通用機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鼓控制；可變程序用插銷板來給定程序。這種機械手多為氣動或液壓驅動，結構簡單，成本較低，改變程序較容易。只適用于程序較簡單的點位控制，實現(xiàn)重復性操作作為一般單機服務的搬運工作也完全夠。目前這種機械手數(shù)量最多。2 示教再現(xiàn)通用機械手這種機械由人工通過示教裝置領動一遍，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，此后機械手就自動按記憶的程序，重復地進行鵝環(huán)動作。這種機械手多為電液伺服控制。與前者比較，這種機械手可有較多的自由度，有可能實現(xiàn)連續(xù)軌跡控制，能進行程序較復雜的作業(yè)，通用性較大。3，具有視覺、觸覺的通用機械手這種機械手由電子計算機控制，裝備有電視攝像管和傳感器等，因而具有視覺、熱感.觸覺等。這種機械手我網(wǎng)日前還處于研制階段。再次按使用范圍，驅動方式和控制系統(tǒng)等進行分類。第二章 工業(yè)機械手0按使用范圍分為專用機械手和通用機械手專業(yè)機械手：一般附屬于工作機器設備，動作程序固定，驅動系統(tǒng)和控制系統(tǒng)可以獨立，亦可附屬于工作機器設備。通用機械手：獨立工作的自動化機械設備。在規(guī)格性能的范圍內(nèi)，其動作程序是可變的，通過調(diào)整可在不同的場合使用，驅動系統(tǒng)和控制系統(tǒng)是獨立的。按驅動方式分為液壓機械手，氣壓機械手，電動機械手，機械式機械手。液壓機械手：輸出力大，傳動平穩(wěn)。如采用電液伺服機構，可實現(xiàn)連續(xù)軌跡控制。液壓系統(tǒng)的密封要求嚴格，又問對油的粘度影響大。氣壓機械手：氣源方便，輸出力小，氣壓傳動速度快，結構簡單，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械手的結構大。電動機械手‘直接用直線電機，功率步進電機和具有特殊結構的感應電動機等來驅動，動力源簡單，不需要能量裝換機構，維護使用方便。目前這種工業(yè)機械手尚在發(fā)展之中。機械式機械手：由工作機構帶動機械手運動，工作可靠，動作頻率高，結構簡單，成本低。但動作固定不可變。按控制系統(tǒng)可分為點位控制和連續(xù)控制點位控制：只能控制工業(yè)機械手運動的幾個點的位置，運動軌跡不受控制。目前使用的專用和通用工業(yè)機械手均屬于此類。連續(xù)控制：工業(yè)機械手按給定的速度沿給定的線路（軌跡）實現(xiàn)平穩(wěn)準確的運動。特點是設定點時無限的，整個運動過程都要求處在控制之下。這來工業(yè)機械手一般采用小型計算機控制。機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、準確和牢靠程度，直接影響到機械手的性能，是機械手的關鍵部件之一。2.2 工業(yè)機械手的驅動方式工業(yè)機械手的驅動方法，按驅動源分為氣壓驅動、液壓驅動、電力驅動和機械驅功四種。第二章 工業(yè)機械手02.2.1 氣壓驅動氣壓驅動是一種簡單、可靠.經(jīng)濟的驅動方式，是以壓縮空氣為動力沉來驅動機械手的執(zhí)行機構，在機械加工行業(yè)中的機械手普遍采用氣壓驅動，用來完成零件的傳送工作。(一)氣壓驅動的特點氣壓驅動的優(yōu)點是;容易獲得快速運動，機械手可引用一般工廠都有的壓縮空氣源，因此結構簡單，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臺起來使用。其缺點是:氣限低，出力小，執(zhí)行機構體積人 ;壓縮性大，阻尼緩沖效果差，較難實現(xiàn)中間位置的停止，若要求較高的定位精度，必須增設較復雜的緩沖、定位機構。(二)氣動元件簡介氣動元件種類很多，應用范圈也各不相同。目前所謂氣動元件，是指氣壓傳動中應用的各種控制閥和執(zhí)行元件。一般不包括空氣壓縮機。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裝置，進行潤滑。2.空氣控制閥這是氣動元件中主要的一大類，其功用是控制空氣的壓力、流量及流動方向，保證氣動系統(tǒng)按規(guī)定的程序、速度進行工作。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、氣動換向閥,電磁氣閥、單向閥、梭閥、延時閥.脈沖閥等。（4）其他閥:包括各種手動閥、腳踏操作閥、氣動開關、按鈕、行程閥、轉閥等。第二章 工業(yè)機械手13.氣缸作為氣動執(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。其結構形式很多，可完成往復直線運動和擺動。4 氣動馬達 是實現(xiàn)旋轉運動的執(zhí)行元件。5 氣動邏輯元件這是近年來新發(fā)展的一種氣動元件，帶有可動部件，其作用類似繼電器，可實現(xiàn)各種邏輯功能，直接對氣動裝置進行控制。其結構類似小型閥門。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，一般也屬于氣動元件的范圍。2.2.2 液壓驅動在機械手中液壓驅動是用的最多的方式。利用油缸、油馬達和齒條齒輪實現(xiàn)直線運動，利用回轉油缸、油馬達與齒輪齒條或鏈輪鏈條實現(xiàn)回轉運動。(一)液壓驅動的特點1.液壓驅動的優(yōu)點(1)壓力高，油壓可達 10- I40 公斤/厘米 的壓力?？梢垣@得較大的操作力。2（2)液體的壓縮比較小，可以認為沒有壓縮性，因此控制系統(tǒng)的滯后也幾乎沒有，動作平穩(wěn)，快速反應性好。(3)壓力、流量容易調(diào)節(jié)，控制性能好，可以實現(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，可耐振動和沖擊。（5）可無級變速（6）液壓油有良好的潤滑性2 液壓驅動的特點（1）需單獨配備液壓源（2）管線系統(tǒng)比較復雜，成本較高（3）液壓系統(tǒng)的泄露會嚴重影響其使用性能（4）油的粘度對溫度的變化敏感3 液壓系統(tǒng)的組成1 動力元件--油泵2 執(zhí)行元件--油缸，油馬達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)機械手的設計方法機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、準確和牢靠程度，直接影響到機械手的性能，是機械手的關鍵部件之一。2.3.1 手部的設計手部的設計要求：1.手部應有足夠的夾緊力，除工件的重力外，還要能不使工件在傳送過程中松動或脫落;第二章 工業(yè)機械手22.夾持范國要與工件相適應。手爪的張開角度（手爪張開或閉合時兩個極限位置所擺動的角度 )應能適應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)定位準確，又不夾壞工件表而。一般需根據(jù)工件的形狀選擇相應的手爪結構:如元住形工件應采用帶 V 形槽的手爪來定位，對于工件表面光潔度較高的，應在手爪上鑲銅、夾布膠木或其他軟質(zhì)墊片等;4.夾持動作要迅速、靈活;5.手部結構要簡單緊湊，剛性好、自重輕、易磨損處應便于更換，在腕部或臂部上安裝要方便，更換要迅速。手部結構手爪的類型大致分為下列三種:1.夾持式手爪，根據(jù)手爪的動作可分為回轉型和平移型；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壓式。3 帶觸覺或視覺的手爪The first chapter overview1. 1 the development history of the manipulatorIn 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", 第二章 工業(yè)機械手3or "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 significanceThe 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 application1. 3.1 foreign applications第二章 工業(yè)機械手4The 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 applicationIn 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 manipulatorChina 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".第二章 工業(yè)機械手5The second chapter industrial robots2.1 the classification of industrial robotAt 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 says1. Small-arm strength in 1 kg the following;2. Medium-arm strength in 1 ~ 30 kilograms, within3. 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 classification1 simple type general manipulatorA 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 manipulatorThis 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 manipulatorThe 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 manipulatorProfessional 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.第二章 工業(yè)機械手6According 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 controlPosition 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 modeIndustrial robots driver technique in pneumatic driving, driving the source into hydraulic drive, electric drive and mechanical drive power four.2.2.1Section 2.3.1 for ammeters pneumatic drivePneumatic 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 driveThe 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 第二章 工業(yè)機械手7higher precision, must add more complex buffer, positioning.(2) pneumatic components profilePneumatic 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 sourceWater 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 driveIn 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 drive第二章 工業(yè)機械手81. The advantages of hydraulic drive(1) high, hydraulic pressure can reach up to 10-I40 kg/centimeters of pressure. Can acquire larger operating force.(2) the compression of liquid are small, can think not, therefore the compressibility of the lag of the control system and almost no action, sm