机械手外文翻译立柱式助力机械手设计Word文档下载推荐.docx

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专业机械工程及自动化

班级机自0902

学生

学号

指导教师

二〇一三年三月十五日

ManufacturingEngineeringandTechnology——Machining,2004

TheDesignofHandColumnTypePowerMachine

Seropekalpakjian,StevenR.Schmid

ShanghaiMetallurgicalResearchInstituteofChineseAcademyofSciences

Abstract

Machinehanddevelopedinrecentdecadesashigh-techautomatedproductionequipment.Industrialmachinehandisanimportantbranchofindustrialmachinehands.Itfeaturescanbeprogrammedtasksinavarietyofexpectations,inbothstructureandperformanceadvantagesoftheirownpeopleandmachines,inparticular,reflectsthepeople’sintelligenceandadaptability.Theaccuracyofmachinehandoperationsandavarietyofenvironmentstheabilitytocompletetheworkinthefieldofnationaleconomyandtherearebroadprospectsfordevelopment.Withthedevelopmentofindustrialautomation,therehasbeenCNCmarchingcenter,itisinreducinglaborintensity,whilegreatlyimproveslaborproductivity.However,theupperandlowercommoninCNCmarchingprocessesmaterial,usuallystillusemanualortraditionalrelay-controlledsemi-automaticdevice.Theformertime-consumingandlaborintensive,inefficient;

thelatterduetodesigncomplexity,requiremorerelays,writingcomplexity,vulnerabilitytobodyvibrationinterference,whiletheexistenceofpoorreliability,faultmoremaintenanceproblemsandotherissues.ProgrammableLogicControllerPLC-controlledmachinehandcontrolsystemformaterialupanddownmovementissimple,circuitdesignisreasonable,whileastronganti-jammingcapability,ensuringthesystem’sreliability,reducedmaintenancerate,andimproveworkefficiency.Machinehandtechnologyrelatedtomechanics,mechanics,electricalhydraulictechnology,automaticcontroltechnology,sensortechnologyandcomputertechnologyandotherfieldsofscience,isacross-disciplinarytechnology.

1.Anoverviewofindustrialmanipulator

Machinehandisakindofpositioningcontrolwhichcanbeautomatedandcanbere-programmedtochangeinmulti-functionalmachine,whichhasmultipledegreesoffreedomcanbeusedtocarryanobjectinordertocompletetheworkindifferentenvironments.LowwagesinChina,plasticproductsindustry,althoughstillalabor-intensive,mechanicalhandusehasbecomeincreasinglypopular.ElectronicsandautomotiveindustriesthatEuropeandtheUnitesStatesmultinationalcompaniesveryearlyintheirfactoriesinChina,theintroductionofautomatedproduction.Butnowthechangesarethosefoundinindustrial-intensiveSouthChina,EastChina’scoastalareas,local

plasticprocessingplantshavealsoemergedinmechanicalwatchesbegantobecomeincreasinglyinterestedin,becausetheyhavetofaceahighturnoverrateofworkers,aswellasfortheworkerstopaywork-relatedinjuriesfeechallenges.

WiththerapiddevelopmentofChina’sindustrialproduction,especiallythereformandopeningupaftertherapidincreaseinthedegreeofautomationtoachievetheworkpiecehandling,steering,transmissionoroperationofbrazing,spraygun,wrenchesandothertoolsforprocessingandassemblyoperationssince,whichhasmoreandmoreattractedourattention.

Machinehandistoimitatethemanualpartoftheaction,accordingtoagivenprogram,trackandrequirementsforautomaticcapture,handlingoroperationoftheautomaticmechanicaldevices.

Inreallife,youwillfindthisaproblem.Inthemachineshop,theprocessingofpartsloadingtimeisnotannoying,andlaborproductivityisnothigh,thecostofproductionmajor,andsometimesman-madeincidentswilloccur,resultinginprocessingwereinjures.Thinkaboutwhatcouldreplaceitwiththeprocessingtimeofatouraslongasthereareafewpeople,andcanoperate24hourssaturatedhumanright?

Theanswerisyes,butthemachinehandcancometoreplaceit.

Productionofmechanicalhandcanincreasetheautomationlevelofproductionandlaborproductivity;

canreducelaborintensity,ensuringproductquality,toachievesafeproduction;

particularlyinthehigh-temperature,highpressure,lowtemperature,lowpressure,dust,explosive,toxicandradioactivegasessuchaspoorenvironmentcanreplacethenormalworkingpeople.HereIwouldliketothinkofdesigningamachinehandtobeusedinactualproduction.

Whywouldamachinehanddesignedtoprovideapneumaticpower:

pneumaticmachinehandreferstothecompressedairaspowersource-drivenmachinehand.Withpressure-drivenandotherenergy-drivencomparisonhavethefollowingadvantages:

1.Airinexhaustible,usedlaterdischargedintotheatmosphere,doesnotrequirerecyclinganddisposal,donotpollutetheenvironment.（Conceptofenvironmentalprotection）

2.Airstickissmall,thepipelinepressurelossissmall（typicallylessthanasphaltgaspathpressuredropofone-thousandth）,tofacilitatelong-distancetransport.

3.Compressedairoftheworkingpressureislow（usually4to8kg/persquarecentimeter）,andthereforemovingthematerialcomponentsandmanufacturingaccuracyrequirementscanbelowered.

4.Withthehydraulictransmission,comparedtoitsfasteractionandreaction,whichisoneoftheadvantagespneumaticoutstanding.

5.Theaircleanermedia,itwillnotdegenerate,noteasytoplugthepipeline.

Buttherearealsoplaceswhereitfliesintheointment:

1.Asthecompressibilityofair,resultinginpooraerodynamicstabilityofthework,resultingintheimplementingagenciesastheprecisionofthevelocityandnoteasilycontrolled.

2.Astheuseoflowatmosphericpressure,theoutputpowercannotbetoolarge;

inordertoincreasetheoutputpowerisboundtothestructureoftheentirepneumaticsystemsizeincreased.

2.Thecomposition,mechanicalhand

Machinehandintheformofavarietyofforms,somerelativelysimple,somemorecomplicated,butthebasicformisthesameasthecompositionofthe,usuallybytheimplementingagencies,transmissionsystems,controlsystemsandauxiliarydevicescomposed.

1.Implementingagencies

Manipulatorexecutingagencybythehands,wrists,arm,pillars.Handsarecrawlinginstitutions,isusedtoclampandreleasetheworkpiece,andsimilartohumanfingers,tocompletethestaffingofsimilaractions.Wristandfingersandthearmconnectingthecomponentscanbeupanddown,left,androtarymovement.Asimplemechanicalhandcannotwrist.Pillarsusedtosupportthearmcanalsobemademobileasneeded.

2.Transmission

Theactuatortobeachievedbythetransmissionsystem.Sub-transmissionsystemcommonlyusedmanipulatormechanicaltransmission,hydraulictransmission,pneumaticandelectricpowertransmissionandotherdriveseveralforms.

3.ControlSystem

Manipulatorcontrolsystem’smainroleistocontrolthemachinehandaccordingtocertainprocedures,direction,position,speedofaction,asimplemechanicalhandisgenerallynotsetupadedicatedcontrolsystem,usingonlytripswitches,relays,controlvalvesandcircuitscanbeachieveddynamicdrivesystemcontrol,sothatimplementingagenciesaccordingtotherequirementsofaction.Actionwillhavetousecomplexprogrammablemachinehandcontroller,themicro-computercontrol..

3.Mechanicalhandclassificationandcharacteristics

Machinehandsaregenerallydividedintothreecategories:

thefirstisthegeneralmachinerydoesnotrequiremanualhand.Itisanindependentnotaffiliatedwithaparticularhostdevice.Itcanbeprogrammedaccordingtotheneedsofthetasktocompletetheoperationoftheprovisions.Itischaracterizedwithordinarymechanicalperformance,alsohasgeneralmachinery,memory,intelligenceternarymachinery.Thesecondcategoryistheneedtomanuallydoit,calledtheoperationofaircraft.Itoriginatedintheatom,militaryindustry,firstthroughtheoperationofmachinestocompleteaparticularjob,andlaterdevelopedtooperateusingradiosignalstocarryoutdetectingmachinessuchastheMoon.Usedinindustrialmanipulatoralsofallintothiscategory.Thethirdcategoryisdedicatedmanipulator,themainsubsidiaryoftheautomaticmachinesorautomaticlines,tosolvethemachineupanddowntheworkpiecematerialanddelivery.Thismechanicalhandinforeigncountriesknownasthe“MechanicalHand”,whichisthehostofservices,fromthehost-driven;

exceptionofafewoutsidetheworkingproceduresaregenerallyfixed,andthereforespecial.

Mainfeatures

First,mechanicalhand（theupperandlowermaterialmachinehand,assemblymachinehand,handlingmachinehand,stackingmachinehand,helpmachinehand,vacuumhandlingmachines,vacuumsuctioncrane,labor-savingspreader,pneumaticbalancer,etc.）

Second,cantilevercranes（cantilevercrane,electricchainhoistcrane,airbalancethehanging,etc.）

Third,rail-typetransportsystem（hangingrail,lightrail,singlegirdercranes,double-beamcrane）

Four,industrialmachinery,applicationofhand

Manipulatorinthemechanizationandautomationoftheproductionprocessdevelopedanewtypeofdevice.Inrecentyears,aselectronictechnology,especiallycomputerextensiveuseofmachinehanddevelopmentandproductionofhigh-techfieldshasbecomearapidlydevelopedanewtechnology,whichfurtherpromotedthedevelopmentofmachinehand,allowingmachinehandtobetterachievedwiththecombinationofmechanizationandautomation.

Althoughthemachinehandisnotasflexibleasstaff,butithastothecontinuousduplicationofworkandlabor,Idonotknowfatigue,notafraidofdanger,thepowersnatchweightcharacteristicswhencomparedwithmanuallarge,therefore,mechanicalhandhasbeenappliedwidely,forexample:

a）Machiningtheworkp