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設(shè)計(jì)任務(wù)書
一、 畢業(yè)設(shè)計(jì)題目
液動(dòng)機(jī)械手系統(tǒng)設(shè)計(jì)
二、畢業(yè)設(shè)計(jì)提供的原始數(shù)據(jù)資料
液動(dòng)機(jī)械手設(shè)計(jì)， 包括總體設(shè)計(jì)，各執(zhí)行機(jī)構(gòu)設(shè)計(jì)，氣動(dòng)系統(tǒng)設(shè)計(jì)、計(jì)算，控制系統(tǒng)設(shè)計(jì)。
能夠?qū)崿F(xiàn)160Kg重量工件傳送，傳送過程中能實(shí)現(xiàn)抓取、提升、回轉(zhuǎn)、下降、松開
等動(dòng)作，且動(dòng)作順序、動(dòng)作速度可調(diào)。用液動(dòng)驅(qū)動(dòng)，PLC控制。
A.用途:用于精鍛機(jī)上料。
B.設(shè)計(jì)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(gè)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(yùn)動(dòng)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(dòng)方式：液壓傳動(dòng)
H.控制方式：點(diǎn)位程序控制(采用PLC)
三、畢業(yè)設(shè)計(jì)應(yīng)完成主要內(nèi)容：
1、畢業(yè)設(shè)計(jì)說明書：
總體方案論證
機(jī)械手的手臂結(jié)構(gòu)方案設(shè)計(jì)
機(jī)械手的驅(qū)動(dòng)方案設(shè)計(jì)
機(jī)械手的總體結(jié)構(gòu)設(shè)計(jì)
2、畢業(yè)設(shè)計(jì)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(jì)資料要求
1、畢業(yè)設(shè)計(jì)說明書：
2、畢業(yè)設(shè)計(jì)圖紙：
1、 機(jī)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(jì)進(jìn)度安排（從第六周起）
序號(hào)
時(shí)間
周次
設(shè)計(jì)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(jì)算
5
04月28日~05月04 日
第10周
繪制機(jī)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(píng)閱和開始答辯
六、主要參考文獻(xiàn)資料
1、工具書：
機(jī)床圖冊(cè)
機(jī)床設(shè)計(jì)手冊(cè)
機(jī)械零件設(shè)計(jì)手冊(cè)
2、參考資料：
七、簽字欄
簽 字 欄
畢業(yè)生
姓名
專業(yè)
班級(jí)
要求設(shè)計(jì)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(zhǔn)（簽字）
日期
201 年 月 日
第2頁 共 2頁
翻譯文獻(xiàn)
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(jī)械手是近幾十年發(fā)展起來的一種高科技自動(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(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、維修困難等問題?？删幊绦蚩刂破?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)自動(dòng)化，已愈來愈引起我們重視。?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，來用于生產(chǎn)實(shí)際中。?
為什么選著設(shè)計(jì)機(jī)械手用氣動(dòng)來提供動(dòng)力：氣動(dòng)機(jī)械手是指以壓縮空氣為動(dòng)力源驅(qū)動(dòng)的機(jī)械手。用氣壓驅(qū)動(dòng)與其他能源驅(qū)動(dòng)比較有以下優(yōu)點(diǎn)：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?。ㄒ话銡饴纷枇p失不到油路的千分之一），便于遠(yuǎn)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(duì)傳動(dòng)元件的材質(zhì)和制造精度要求可以降低。?4.與液壓傳動(dòng)相比，?它的動(dòng)作和反應(yīng)都快，這是氣動(dòng)突出的優(yōu)點(diǎn)之一。5.空氣介質(zhì)清潔，亦不會(huì)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(dòng)工作的穩(wěn)定性差，因而造成執(zhí)行機(jī)構(gòu)運(yùn)動(dòng)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(gè)氣動(dòng)系統(tǒng)的結(jié)構(gòu)尺寸加大。用氣壓驅(qū)動(dòng)與用其他能源驅(qū)動(dòng)比較有以下優(yōu)點(diǎn)：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(duì)生產(chǎn)發(fā)生嚴(yán)重的影響?？諝獾恼承院苄?，管路中壓力損失也就很小，便于遠(yuǎn)距離輸送。?壓縮空氣的工作壓力較低，因此對(duì)氣動(dòng)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(yùn)動(dòng)推力在?1~2?噸以下采用氣動(dòng)經(jīng)濟(jì)性較好。與液壓傳動(dòng)相比，它的動(dòng)作和反應(yīng)都快，這是氣動(dòng)的突出優(yōu)點(diǎn)之一?？諝饨橘|(zhì)清潔，亦不會(huì)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(chǎng)合。又便于實(shí)現(xiàn)過載自動(dòng)保護(hù).?
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)械手可以沒有手腕。支柱用來支撐手臂，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)，先是通過操作機(jī)來完成特定的作業(yè)，后來發(fā)展到用無線電訊號(hào)操作機(jī)來進(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)）?
四、工業(yè)機(jī)械手的應(yīng)用發(fā)展??
機(jī)械手是在機(jī)械化、自動(dòng)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(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)中它可以用來裝配印制電路板，在機(jī)?械行業(yè)中它可以用來組裝零部件。(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。?
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