外文出处：Manufacturing Engineering and Technology—Machining 附件1：外文资料翻译译文
机械手
机械手十年发展起种高科技动化生产设备工业机械手工业机器重分支特点通编程完成种预期作业务构造性兼机器优点尤体现智适应性机械手作业准确性种环境中完成作业力国民济领域着广阔发展前景着工业动化发展 出现数控加工中心减轻工劳动强度时 提高劳动生产率数控加工中常见料工序 通常采工操作传统继电器控制半动化装置前者费时费工效率低 者设计复杂 需较继电器接线繁杂 易受车体振动干扰存性差障维修困难等问题编程序控制器PLC控制料机械手控制系统动作简便线路设计合理具较强抗干扰力 保证系统运行性降低维修率 提高工作效率机械手技术涉力学机械学电气液压技术动控制技术传感器技术计算机技术等科学领域门跨学科综合技术
工业机械手概述
机械手种动化定位控制重新编程序变动功机器度搬运物体完成环境中工作工资水较低中国塑料制品行业属劳动力密集型机械手已越越普电子汽车业欧美跨国公司早设中国工厂中引进动化生产现变化分布工业密集华南华东海区中国土塑料加工厂开始机械手表现出越越浓厚兴趣面工流失率高工交工伤费带挑战
着国工业生产飞跃发展特改革开发动化程度迅速提高实现工件装卸转输送操作钎焊喷枪扳手等工具进行加工装配等作业化已愈愈引起重视
机械手模仿着手部分动作定程序轨迹求实现动抓取搬运操作动机械装置
现实生活中否会发现样问题机械工厂里加工零件装料时候烦劳动生产率高生产成时候会发生事导致加工者受伤想想什代呢加工时候巡视二十四时饱运作行？回答肯定机械手代
生产中应机械手提高生产动化水劳动生产率减轻劳动强度保证产品质量实现安全生产尤高温高压低温低压粉尘易爆毒气体放射性等恶劣环境中够代进行正常工作想里想设计机械手生产实际中
什选着设计机械手气动提供动力：气动机械手指压缩空气动力源驱动机械手气压驱动源驱动较优点：1空气取竭排入气需回收处理污染环境（环保概念）2空气沾性路中压力损失（般气路阻力损失油路千分）便远距离输送3压缩空气工作压力较低(般4～8公斤方厘米)动元件材质制造精度求降低4液压传动相动作反应快气动突出优点5空气介质清洁会变质路易堵塞美中足方：1空气压缩性致气动工作稳定性差造成执行机构运动速度定精度易控制2气压较低输出力太增加输出力必然整气动系统结构尺寸加
气压驱动源驱动较优点：
空气取竭排入气需回收处理污染环境偶然少量泄漏致生产发生严重影响
空气粘性路中压力损失便远距离输送
压缩空气工作压力较低气动元件材质制造精度求降低般说复运动推力1~2吨采气动济性较
液压传动相动作反应快气动突出优点
空气介质清洁会变质路易堵塞
安全应易燃易爆粉尘场合便实现载动保护
二﹑机械手组成
机械手形式种样较简单较复杂基组成形式相般执行机构传动系统控制系统辅助装置组成
1 执行机构
机械手执行机构手手腕手臂支柱组成手抓取机构夹紧松开工件手指相仿完成手类似动作手腕连接手指手臂元件进行左右回转动作简单机械手没手腕支柱支撑手臂根需做成移动
2 传动系统
执行机构动作传动系统实现常机械手传动系统分机械传动液压传动气压传动电力传动等种形式
3 控制系统
机械手控制系统作控制机械手定程序方位置速度进行动作简单机械手般设置专控制系统采行程开关继电器控制阀电路便实现动传动系统控制执行机构求进行动作．动作复杂机械手采编程控制器微型计算机进行控制
三﹑ 机械手分类特点
机械手般分三类：第类需工操作通机械手种独立附属某机装置根务需编制程序完成项规定操作特点具备普通机械性外具备通机械记忆智三元机械第二类需工做称操作机起源原子军事工业先通操作机完成特定作业发展线电讯号操作机进行探测月球等工业中采锻造操作机属范畴第三类专机械手附属动机床动线解决机床料工件送种机械手国外称Mechanical Hand机服务机驱动少数外工作程序般固定专
特点：
(1) 机械手（料机械手装配机械手搬运机械手堆垛机械手助力机械手真空搬运机 真空吸吊机省力吊具气动衡器等）
(2) 悬臂起重机（悬臂吊电动环链葫芦吊气动衡吊等）
(3) 导轨式搬运系统（悬挂轨道轻型轨道单梁起重机双梁起重机）
(4) 工业机械手应
机械手机械化动化生产程中发展起种新型装置年着电子技术特电子计算机广泛应机器研制生产已成高技术领域迅速发展起门新兴技术更加促进机械手发展机械手更实现机械化动化机结合
机械手然目前手样灵活具断重复工作劳动知疲劳怕危险抓举重物力量手等特点机械手已受许部门重视越越广泛应例：
(1) 机床加工工件装卸特动化车床组合机床较普遍
(2) 装配作业中应广泛电子行业中装配印制电路板机械行业中组装零部件
(3) 劳动条件差单调重复易子疲劳工作环境工作代劳动
(4) 危险场合工作军工品装卸危险品害物搬运等
(5) 宇宙海洋开发
(6) 军事工程生物医学方面研究试验
助力机械手称衡器衡吊省力吊具手动移载机等种重力化手动承载系统种新颖物料搬运时省力化操作助力设备属种非标设计系列化产品针客户应需求量身定制案创作
种模拟手操作动机械固定程序抓取﹑搬运物件操持工具完成某特定操作应机械手代事单调﹑重复繁重体力劳动实现生产机械化动化代害环境手工操作改善劳动条件保证身安全20世纪40年代期美国原子实验中首先采机械手搬运放射性材料安全室操机械手进行种操作实验50年代机械手逐步推广工业生产部门高温﹑污染严重方取放工件装卸材料作机床辅助装置动机床﹑动生产线加工中心中应完成料刀库中取放刀具固定程序更换刀具等操作机械手手部机构运动机构组成手部机构场合操作象常见夹持﹑托持吸附等类型运动机构般液压﹑气动﹑电气装置驱动机械手独立实现伸缩﹑旋转昇降等运动般2～3度机械手广泛机械製造﹑冶金﹑轻工原子等部门
模仿手臂某动作功固定程序抓取搬运物件操作工具动操作装置代繁重劳动实现生产机械化动化害环境操作保护身安全广泛应机械制造冶金电子轻工原子等部门 机械手通常作机床机器附加装置动机床动生产线装卸传递工件加工中心中更换刀具等般没独立控制装置操作装置需直接操原子部门操持危险物品式操作手常称机械手
机械手手部运动机构组成手部抓持工件（工具）部件根抓持物件形状尺寸重量材料作业求种结构形式夹持型托持型吸附型等运动机构手部完成种转动（摆动）移动复合运动实现规定动作改变抓持物件位置姿势
机械手动化生产程中种具抓取移动工件功动化装置机械化动化生产程中发展起种新型装置年着电子技术特电子计算机广泛应机器研制生产已成高技术领域迅速发展起门新兴技术更加促进机械手发展机械手更实现机械化动化机结合机械手代类完成危险重复枯燥工作减轻类劳动强度提高劳动生产力机械手越越广泛应机械行业中零部件组装 加工工件搬运装卸特动化数控机床组合机床更普遍目前机械手已发展成柔性制造系统FMS柔性制造单元FMC中重组成部分机床设备机械手构成柔性加工系统柔性制造单元适应中批量生产节省庞工件输送装置结构紧凑适应性强工件变更时柔性生产系统容易改变利企业断更新适销路品种提高产品质量更适应市场竞争需目前国工业机器技术工程应水国外定距离应规模产业化水低机械手研究开发直接影响国动化生产水提高济技术考虑十分必进行机械手研究设计非常意义
附件2：外文原文
Manipulator
Robot developed in recent decades as hightech 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 relaycontrolled semiautomatic device The former timeconsuming 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 PLCcontrolled robot control system for materials up and down movement is simple circuit design is reasonable with a strong antijamming 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 crossdisciplinary integrated technology
First an overview of industrial manipulator
Robot is a kind of positioning control can be automated and can be reprogrammed to change in multifunctional 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 laborintensive 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 industrialintensive 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 workrelated 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 manmade 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 hightemperature 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 sourcedriven robot With pressuredriven and other energydriven 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 onethousandth) to facilitate longdistance 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 can not 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 longdistance 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 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 Subtransmission 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 microcomputer 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 hostdriven 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 laborsaving spreader pneumatic balancer etc)
Second cantilever cranes (cantilever crane electric chain hoist crane air balance the hanging etc)
Third railtype transport system (hanging rail light rail single girder cranes doublebeam 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 hightech 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 subfatigue 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 laborsaving spreader manual Transfer machine is a kind of weightlessness of manual load system a novel timesaving technology for material handling operations booster equipment belonging to kinds of nonstandard 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 masterslave 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 adsorptionbased 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 hightech 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
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机械手
机械手十年发展起种高科技动化生产设备工业机械手工业机器重分支特点通编程完成种预期作业务构造性兼机器优点尤体现智适应性机械手作业准确性种环境中完成作业力国民济领域着广阔发展前景着工业动化发展 出现数控加工中心减轻工劳动强度时 提高劳动生产率数控加工中常见料工序 通常采工操作传统继电器控制半动化装置前者费时费工效率低 者设计复杂 需较继电器接线繁杂 易受车体振动干扰存性差障维修困难等问题编程序控制器PLC控制料机械手控制系统动作简便线路设计合理具较强抗干扰力 保证系统运行性降低维修率 提高工作效率机械手技术涉力学机械学电气液压技术动控制技术传感器技术计算机技术等科学领域门跨学科综合技术
工业机械手概述
机械手种动化定位控制重新编程序变动功机器度搬运物体完成环境中工作工资水较低中国塑料制品行业属劳动力密集型机械手已越越普电子汽车业欧美跨国公司早设中国工厂中引进动化生产现变化分布工业密集华南华东海区中国土塑料加工厂开始机械手表现出越越浓厚兴趣面工流失率高工交工伤费带挑战
着国工业生产飞跃发展特改革开发动化程度迅速提高实现工件装卸转输送操作钎焊喷枪扳手等工具进行加工装配等作业化已愈愈引起重视
机械手模仿着手部分动作定程序轨迹求实现动抓取搬运操作动机械装置
现实生活中否会发现样问题机械工厂里加工零件装料时候烦劳动生产率高生产成时候会发生事导致加工者受伤想想什代呢加工时候巡视二十四时饱运作行？回答肯定机械手代
生产中应机械手提高生产动化水劳动生产率减轻劳动强度保证产品质量实现安全生产尤高温高压低温低压粉尘易爆毒气体放射性等恶劣环境中够代进行正常工作想里想设计机械手生产实际中
什选着设计机械手气动提供动力：气动机械手指压缩空气动力源驱动机械手气压驱动源驱动较优点：1空气取竭排入气需回收处理污染环境（环保概念）2空气沾性路中压力损失（般气路阻力损失油路千分）便远距离输送3压缩空气工作压力较低(般4～8公斤方厘米)动元件材质制造精度求降低4液压传动相动作反应快气动突出优点5空气介质清洁会变质路易堵塞美中足方：1空气压缩性致气动工作稳定性差造成执行机构运动速度定精度易控制2气压较低输出力太增加输出力必然整气动系统结构尺寸加
气压驱动源驱动较优点：
空气取竭排入气需回收处理污染环境偶然少量泄漏致生产发生严重影响
空气粘性路中压力损失便远距离输送
压缩空气工作压力较低气动元件材质制造精度求降低般说复运动推力1~2吨采气动济性较
液压传动相动作反应快气动突出优点
空气介质清洁会变质路易堵塞
安全应易燃易爆粉尘场合便实现载动保护
二﹑机械手组成
机械手形式种样较简单较复杂基组成形式相般执行机构传动系统控制系统辅助装置组成
1 执行机构
机械手执行机构手手腕手臂支柱组成手抓取机构夹紧松开工件手指相仿完成手类似动作手腕连接手指手臂元件进行左右回转动作简单机械手没手腕支柱支撑手臂根需做成移动
2 传动系统
执行机构动作传动系统实现常机械手传动系统分机械传动液压传动气压传动电力传动等种形式
3 控制系统
机械手控制系统作控制机械手定程序方位置速度进行动作简单机械手般设置专控制系统采行程开关继电器控制阀电路便实现动传动系统控制执行机构求进行动作．动作复杂机械手采编程控制器微型计算机进行控制
三﹑ 机械手分类特点
机械手般分三类：第类需工操作通机械手种独立附属某机装置根务需编制程序完成项规定操作特点具备普通机械性外具备通机械记忆智三元机械第二类需工做称操作机起源原子军事工业先通操作机完成特定作业发展线电讯号操作机进行探测月球等工业中采锻造操作机属范畴第三类专机械手附属动机床动线解决机床料工件送种机械手国外称Mechanical Hand机服务机驱动少数外工作程序般固定专
特点：
(1) 机械手（料机械手装配机械手搬运机械手堆垛机械手助力机械手真空搬运机 真空吸吊机省力吊具气动衡器等）
(2) 悬臂起重机（悬臂吊电动环链葫芦吊气动衡吊等）
(3) 导轨式搬运系统（悬挂轨道轻型轨道单梁起重机双梁起重机）
(4) 工业机械手应
机械手机械化动化生产程中发展起种新型装置年着电子技术特电子计算机广泛应机器研制生产已成高技术领域迅速发展起门新兴技术更加促进机械手发展机械手更实现机械化动化机结合
机械手然目前手样灵活具断重复工作劳动知疲劳怕危险抓举重物力量手等特点机械手已受许部门重视越越广泛应例：
(1) 机床加工工件装卸特动化车床组合机床较普遍
(2) 装配作业中应广泛电子行业中装配印制电路板机械行业中组装零部件
(3) 劳动条件差单调重复易子疲劳工作环境工作代劳动
(4) 危险场合工作军工品装卸危险品害物搬运等
(5) 宇宙海洋开发
(6) 军事工程生物医学方面研究试验
助力机械手称衡器衡吊省力吊具手动移载机等种重力化手动承载系统种新颖物料搬运时省力化操作助力设备属种非标设计系列化产品针客户应需求量身定制案创作
种模拟手操作动机械固定程序抓取﹑搬运物件操持工具完成某特定操作应机械手代事单调﹑重复繁重体力劳动实现生产机械化动化代害环境手工操作改善劳动条件保证身安全20世纪40年代期美国原子实验中首先采机械手搬运放射性材料安全室操机械手进行种操作实验50年代机械手逐步推广工业生产部门高温﹑污染严重方取放工件装卸材料作机床辅助装置动机床﹑动生产线加工中心中应完成料刀库中取放刀具固定程序更换刀具等操作机械手手部机构运动机构组成手部机构场合操作象常见夹持﹑托持吸附等类型运动机构般液压﹑气动﹑电气装置驱动机械手独立实现伸缩﹑旋转昇降等运动般2～3度机械手广泛机械製造﹑冶金﹑轻工原子等部门
模仿手臂某动作功固定程序抓取搬运物件操作工具动操作装置代繁重劳动实现生产机械化动化害环境操作保护身安全广泛应机械制造冶金电子轻工原子等部门 机械手通常作机床机器附加装置动机床动生产线装卸传递工件加工中心中更换刀具等般没独立控制装置操作装置需直接操原子部门操持危险物品式操作手常称机械手
机械手手部运动机构组成手部抓持工件（工具）部件根抓持物件形状尺寸重量材料作业求种结构形式夹持型托持型吸附型等运动机构手部完成种转动（摆动）移动复合运动实现规定动作改变抓持物件位置姿势
机械手动化生产程中种具抓取移动工件功动化装置机械化动化生产程中发展起种新型装置年着电子技术特电子计算机广泛应机器研制生产已成高技术领域迅速发展起门新兴技术更加促进机械手发展机械手更实现机械化动化机结合机械手代类完成危险重复枯燥工作减轻类劳动强度提高劳动生产力机械手越越广泛应机械行业中零部件组装 加工工件搬运装卸特动化数控机床组合机床更普遍目前机械手已发展成柔性制造系统FMS柔性制造单元FMC中重组成部分机床设备机械手构成柔性加工系统柔性制造单元适应中批量生产节省庞工件输送装置结构紧凑适应性强工件变更时柔性生产系统容易改变利企业断更新适销路品种提高产品质量更适应市场竞争需目前国工业机器技术工程应水国外定距离应规模产业化水低机械手研究开发直接影响国动化生产水提高济技术考虑十分必进行机械手研究设计非常意义
附件2：外文原文
Manipulator
Robot developed in recent decades as hightech 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 relaycontrolled semiautomatic device The former timeconsuming 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 PLCcontrolled robot control system for materials up and down movement is simple circuit design is reasonable with a strong antijamming 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 crossdisciplinary integrated technology
First an overview of industrial manipulator
Robot is a kind of positioning control can be automated and can be reprogrammed to change in multifunctional 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 laborintensive 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 industrialintensive 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 workrelated 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 manmade 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 hightemperature 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 sourcedriven robot With pressuredriven and other energydriven 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 onethousandth) to facilitate longdistance 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 can not 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 longdistance 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 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 Subtransmission 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 microcomputer 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 hostdriven 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 laborsaving spreader pneumatic balancer etc)
Second cantilever cranes (cantilever crane electric chain hoist crane air balance the hanging etc)
Third railtype transport system (hanging rail light rail single girder cranes doublebeam 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 hightech 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 subfatigue 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 laborsaving spreader manual Transfer machine is a kind of weightlessness of manual load system a novel timesaving technology for material handling operations booster equipment belonging to kinds of nonstandard 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 masterslave 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 adsorptionbased 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 hightech 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
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