毕业设计搬运机械手的设计(含外文翻译)
运料机械手的设计毕业设计说明书 (完整版)
本科毕业设计 (论文)运料机械手的设计Material Handling Manipulator Design学院：机械工程学院专业班级：机械电子工程 DZ机电091 学生姓名：叶国巍学号： 2011140428 指导教师：汪冰（讲师）2013年6月目录1 绪论 (1)1.1 课题背景 (1)1.2 设计目的 (1)2 手部结构 (1)2.1 设计时应考虑的几个问题 (1)2.2 驱动力的计算 (2)2.3 夹紧缸的设计计算 (4)3 臂部设计 (6)3.1 伸缩手臂运动驱动力计算 (6)3.2 液压缸缸筒内径D的确定 (9)3.3 液压缸外径的设计及校核 (10)3.4 活塞杆设计参数及校核 (10)4 机身升降机构设计 (11)4.1 手臂偏重力矩的计算 (11)4.2 升降不自锁条件分析计算 (12)4.3 手臂做升降运动的液压缸驱动力的计算 (12)4.4 液压缸缸筒内径D的确定 (13)4.5 液压缸外径的设计及校核 (14)4.6 活塞杆设计参数及校核 (14)5 机身回转机构设计 (15)5.1 回转缸驱动力矩的计算 (15)5.2 回转缸尺寸的初步确定 (16)5.3 液压缸盖螺钉的计算 (16)5.4 动片和输出轴间的连接螺钉 (17)6 液压及控制系统设计 (18)6.1 液压系统设计 (18)6.2 PLC控制系统设计 (21)结论 (30)致谢 (31)参考文献 (32)1 绪论1.1 课题背景机械手是模仿着人手的部分动作，按给定程序、轨迹和要求实现自动抓取、搬运或操作的自动机械装置。
近年来，随着电子技术特别是电子计算机的广泛应用，更加促进了机械手的发展，使得机械手能更好地实现与机械化和自动化的有机结合。
机械手能代替人类完成危险、重复枯燥的工作，减轻人类劳动强度，提高劳动生产力。
尤其在高温、高压、低温、低压、粉尘、易爆、有毒气体和放射性等恶劣的环境中，它代替人进行正常的工作，意义更为重大。
工业机械手外文文献翻译、中英文翻译
第一章概述1. 1机械手的发展历史人类在改造自然的历史进程中，随着对材料、能源和信息这三者的认识和用，不断创造各种工具（机器），满足并推动生产力的发展。
工业社会向信息社会发展，生产的自动化，应变性要求越来越高，原有机器系统就显得庞杂而不灵活，这时人们就仿造自身的集体和功能，把控制机、动力机、传动机、工作机综合集中成一体，创造了“集成化”的机器系统——机器人。
从而引起了生产系统的巨大变革，成为“人——机器人——劳动对象”，或者“人——机器人——动力机——工作机——劳动对象”。
机器人技术从诞生到现在，虽然只有短短三十几年的历史，但是它却显示了旺盛的生命力。
近年来，世界上对于发展机器人的呼声更是有增无减，发达国家竞相争先，发展中国家急起直追。
许多先进技术国家已先后把发展机器人技术列入国家计划，进行大力研究。
我国的机器人学的研究也已经起步，并把“机器人开发研究”和柔性制造技术系统和设备开发研究等与机器人技术有关的研究课题列入国家“七五”、“八五”科技发展计划以及“八六三”高科技发展计划。
工业机械手是近代自动控制领域中出现的一项新技术，并已经成为现代机械制造生产系统中的一个重要组成部分。
这种新技术发展很快，逐渐形成一门新兴的学科——机械手工程。
1. 2机械手的发展意义机械手的迅速发展是由于它的积极作用正日益为人们所认识：其一、它能部分地代替人工操作；其二、它能按照生产工艺的要求，遵循一定的程序、时间和位置来完成工件的传送和装卸；其三、它能操作必要的机具进行焊接和装配。
从而大大地改善工人的劳动条件，显著地提高劳动生产率，加快实现工业生产机械化和自动化的步伐。
因而，受到各先进工业国家的重视，投入大量的人力物力加以研究和应用。
近年来随着工业自动化的发展机械手逐渐成为一门新兴的学科，并得到了较快的发展。
机械手广泛地应用于锻压、冲压、锻造、焊接、装配、机加、喷漆、热处理等各个行业。
特别是在笨重、高温、有毒、危险、放射性、多粉尘等恶劣的劳动环境中，机械手由于其显著的优点而受到特别重视。
搬运机械手毕业设计
搬运机械手毕业设计摘要本文针对工业生产中搬运过程中的自动化需求，设计了一款搬运机械手。
该机械手能够自动完成物料搬运、定位和堆放的任务，提高了生产效率和工作安全性。
设计包括机械结构、控制系统和安全保护装置。
关键词：搬运机械手、自动化、物料搬运、机械结构、控制系统、安全保护装置1.引言随着工业化进程的加快，生产线上的物料搬运工作量越来越大，传统的手工搬运方式已经无法满足需求。
自动化的搬运机械手能够代替人工完成搬运任务，提高了生产效率和工作安全性。
因此，设计一款能够实现自动化搬运的机械手对于工业生产具有重要意义。
2.设计原则(1)功能全面：能够完成不同规格、不同材料的物料搬运任务；(2)精确定位：能够精确地将物料放置到指定位置，避免人工调整；(3)堆码能力：能够实现物料的堆码操作，提高存储密度；(4)安全性保护：具备必要的安全保护装置，避免意外情况发生。
3.机械结构设计机械结构是搬运机械手的关键部分，决定了机械手的动作能力和稳定性。
设计中采用了多关节机械手的结构，能够实现六个自由度的运动，适应复杂的搬运场景。
机械手采用轻质材料制造，以提高载重能力。
4.控制系统设计控制系统是搬运机械手的智能核心，决定了机械手的动作控制能力。
控制系统由硬件和软件两个部分组成。
硬件包括传感器，执行机构和控制器，软件包括运动控制算法和路径规划算法。
通过传感器对物料位置、重量和形状进行检测，控制器可以根据检测结果对机械手进行自适应控制，完成搬运任务。
5.安全保护装置设计工业生产中机械手搬运过程中存在一定的安全风险。
设计中引入了安全保护装置，包括红外线传感器和急停按钮。
红外线传感器能够检测到人员或障碍物的接近，触发警报或停机，防止意外发生。
急停按钮可以在紧急情况下立即关闭机械手，确保生产安全。
6.实验结果和分析通过实验，验证了搬运机械手的功能和性能。
机械手能够准确地捡起、移动和堆放物料，实现了自动化搬运。
同时，安全保护装置能够有效地保护工作人员的安全，预防意外事故的发生。
开题报告----机械手设计 3300字
三一文库（）〔开题报告----机械手设计 3300字〕毕业设计开题报告（含文献综述、外文翻译）姓名学号班级专业学院指导教师（职称）题目物料搬运机械手的设计物料搬运机械手开题报告1. 选题的背景和意义1.1 选题的背景在现代国民经济中，制造业是国民经济各部门科学技术进步的基础，而随着制造业中自动化技术的日渐成熟与普及，无人车间的建设逐渐成为现代化大生产的潮流［1］，直接推动着现代制造水平的发展提高。
虽然无人车间的自动化水平很高，但在生产过程中无一例外的都需要一个上料和下料的物料搬运过程，目前还基本没有专门用于物料搬运的自动化设备，即便是一些自动化水平较高的无人车间也采用长距离传送带的形式为无人车间输送或搬运物料，而在输送带的一端则还是需要人力进行物料搬运，这严重制约了无人车间自动化水平的提高［2］。
在这个时代背景下，专门用于物料搬运的物料搬运机械手的研究则成为了推进自动化技术发展的一个重要主题。
特别是在当前劳工紧缺，劳动力成本日益提高的社会背景下，物料搬运机械手的使用可以替代人的繁重劳动，实现工业自动化的同时大大减少了企业的生产成本，提高企业效益。
同时，由于它可在高温、高压、多粉尘、易燃易爆、放射性等恶劣或危险环境下，替代人类作业保护工人的人身安全，因而被广泛应用于机械制造、冶金、电子、轻工和原子能工业等部门。
1.2 选题意义物料搬运机械手的设计全面综合的运用了机械设计专业学生在大学本科阶段所学的各门专业课知识，将这些专业课程的理论和实践知识进行了一次重要实践。
该毕业设计能培养学生的机械机构设计能力、创新能力，建模能力，加深学生理论联系实际的设计思想，提高分析和解决工程实际问题的能力，还可以巩固、加深和扩展有关机械设计方面的知识，为以后从事机械设计制造行业打下坚实基础。
该毕业设计还充分考查了学生，如PRO，CAD等软件的计算机辅助设计能力，是对学生的动手能力的一次全面训练。
本毕业设计既需要理论指导，还必须联系生产实际，其现实意义有以下两大 2方面：机械结构设计综合运用了机械原理、机械设计、工程力学和画法几何四门主要学科知识，需要学生对这四门学科的专业知识熟练掌握，而这四门学科的专业知识是今后从事机械设计制造行业的基础。
机械臂动力学——毕业设计外文文献翻译、中英文翻译
毕业论文（设计）外文翻译题目机械臂动力学与控制的研究系部名称：机械工程系专业班级：机自学生姓名：学号：指导教师：教师职称：20**年03月20日2009年IEEE国际机器人和自动化会议神户国际会议中心日本神户12-17,2009机械臂动力学与控制的研究拉斯彼得Ellekilde摘要操作器和移动平台的组合提供了一种可用于广泛应用程序高效灵活的操作系统,特别是在服务性机器人领域。
在机械臂众多挑战中其中之一是确保机器人在潜在的动态环境中安全工作控制系统的设计。
在本文中,我们将介绍移动机械臂用动力学系统方法被控制的使用方法。
该方法是一种二级方法, 是使用竞争动力学对于统筹协调优化移动平台以及较低层次的融合避障和目标捕获行为的方法。
I介绍在过去的几十年里大多数机器人的研究主要关注在移动平台或操作系统，并且在这两个领域取得了许多可喜的成绩。
今天的新挑战之一是将这两个领域组合在一起形成具有高效移动和有能力操作环境的系统。
特别是服务性机器人将会在这一方面系统需求的增加。
大多数西方国家的人口统计数量显示需要照顾的老人在不断增加,尽管将有很少的工作实际的支持他们。
这就需要增强服务业的自动化程度，因此机器人能够在室内动态环境中安全的工作是最基本的。
图、1 一台由赛格威RMP200和轻重量型库卡机器人组成的平台这项工作平台用于如图1所示,是由一个Segway与一家机器人制造商制造的RMP200轻机器人。
其有一个相对较小的轨迹和高机动性能的平台使它适应在室内环境移动。
库卡工业机器人具有较长的长臂和高有效载荷比自身的重量,从而使其适合移动操作。
当控制移动机械臂系统时,有一个选择是是否考虑一个或两个系统的实体。
在参考文献[1]和[2]中是根据雅可比理论将机械手末端和移动平台结合在一起形成一个单一的控制系统。
另一方面,这项研究发表在[3]和[4],认为它们在设计时是独立的实体,但不包括两者之间的限制条件,如延伸能力和稳定性。
这种控制系统的提出是基于动态系统方法[5],[6]。
搬运机械手设计毕业设计
搬运机械手设计毕业设计本科毕业设计（论文）说明书搬运机械手设计学院机电工程学院专业班级机械工程及自动化五班学生姓名XXXX学生学号XXXXXXXXXX指导教师 XXXX提交日期 2013 年 5 月日毕业设计（论文）任务书兹发给09级机械（5）班学生xxxx 毕业设计（论文）任务书，内容如下：1.毕业设计（论文）题目：圆柱坐标型电、液驱动型搬运机械手设计2.应完成的项目：（1）调研、搜集整理课题的相关资料，完成外文资料的翻译，确定搬运机械手的传动方案；（2）完成传动机构设计及相关参数的选择；（3）完成机械装置相关零件的设计及选型；（4）完成机械装置的3D装配图设计。
3.参考资料以及说明：（1）机械设计方面的资料及机械设计手册。
（2）机器人及机械手设计资料。
（3）机械原理方面的资料。
4.本毕业设计（论文）任务书于2011 年12 月22 日发出，应于2012 年5 月15 日前完成，然后提交毕业考试委员会进行答辩。
专业教研组（系）负责人审核2012 年12 月24 日指导教师（导师组负责人）签发2012 年12 月24 日毕业设计（论文）评语：毕业设计（论文）总评成绩：毕业设计（论文）答辩小组负责人签字：年月日摘要机械手也被称为自动手，能模仿人手和臂的某些动作功能，用以按固定程序抓取、搬运物件或操作工具的自动操作装置。
它可代替人的繁重劳动以实现生产的机械化和自动化，能在有害环境下操作以保护人身安全，因而广泛应用于机械制造、冶金、电子、轻工和原子能等部门。
现在的大型制造企业提高生产效率，保证产品质量，普遍重视生产过程的自动化，机器人自动化生产线的重要成员，逐渐被企业所认同并采用。
机器人技术和应用水平在一定程度上反映了一个国家的工业自动化水平，目前，是主要负责机器人焊接，喷漆，搬运和堆垛和其他重复性和极其劳动力密集型的工作，工作时普遍采取展示教学和播放方法。
本文将设计一个四自由度机械手，主要功能是搬运。
毕业设计---搬运机械手的设计(含外文翻译)
毕业设计---搬运机械手的设计（含外文翻译）1 绪论1.1前言机械手。
机械手是模仿着人手的部分动作，用于再现人手的的功能的技术装置称为[]1按给定程序、轨迹和要求实现自动抓取、搬运或操作的自动机械装置。
在工业生产中应用工业机械手。
的机械手被称为[]2工业机械手是近代自动控制领域中出现的一项新技术，并已成为现代机械制造生产系统中的一个重要组成部分，这种新技术发展很快，逐渐成为一门新兴的学科——机械手工程。
机械手涉及到力学、机械学、电器液压技术、自动控制技术、传感器技术和计算机技术等科学领域，是一门跨学科综合技术。
工业机械手是近几十年发展起来的一种高科技自动生产设备。
工业机械手也是工业机器人的一个重要分支。
他的特点是可以通过编程来完成各种预期的作业，在构造和性能上兼有人和机器各自的优点，尤其体现在人的智能和适应性。
机械手作业的准确性和环境中完成作业的能力，在国民经济领域有着广泛的发展空间。
机械手的发展是由于它的积极作用正日益为人们所认识：其一、它能部分的代替人工操作；其二、它能按照生产工艺的要求，遵循一定的程序、时间和位置来完成工件的传送和装卸；其三、它能操作必要的机具进行焊接和装配，从而大大的改善了工人的劳动条件，显著的提高了劳动生产率，加快实现工业生产机械化和自动化的步伐。
因而，受到很多国家的重视，投入大量的人力物力来研究和应用。
尤其是在高温、高压、粉尘、噪音以及带有放射性和污染的场合，应用的更为广泛。
在我国近几年也有较快的发展，重视。
并且取得一定的效果，受到机械工业的[]3机械手是一种能自动控制并可从新编程以变动的多功能机器，他有多个自由度，可以搬运物体以完成在不同环境中的工作。
机械手的结构形式开始比较简单，专用性较强。
随着工业技术的发展，制成了能够独立的按程序控制实现重复操作，适用范围比较广的“程序控制通用机械手”，简称通用机械手。
由于通用机械手能很快的改变工作程序，适应性较强，所以它在不断变换生产品种的中小批量生产中获得广泛的引用。
毕业设计(论文)六自由度搬运机械手的设计(全套图纸)
1.4.1 外机器手发展趋势 ..................................................................................... 6 1.4.2 内机器手研究现状 ..................................................................................... 7
4. R/C 伺服电机程序编写 ................................................................... 30 4.1 R/C 伺服电机介简介.........................................................................30
六自由度搬运机械手的设计
六自由度搬运机械手的设计 摘要
本文主要针对六自由度机械手在国内外的发展现状，并结合我国在当前工资水 平较低的制造业中，尽管仍属于劳动密集型，但机械手的使用却相当普遍这一现状， 以及目前世界上对于机械手的整体研究，尤其是六自由度机械手的研究拥有深刻的意 义。根据当前世界各先进国家对于机械手的应用情况及各先进国家对于机械手乃至机 器人这一领域的深入研究，本文主要从六自由度搬运机械手的结构设计与制作，电路 图的设计与绘制，控制系统的程序编写三个方面入手，并分别给予详细的介绍，从而 让在校大学生或机器人爱好者能以此为基础，从而自己动手，一步步的从机械手的结 构设计与制作，电路图的设计与绘制，控制系统的程序编写，来设计自己的机械手， 从而为以后更深层次的研究打下基础。
码垛机械手设计外文文献翻译、中英文翻译
码垛机械手设计ABOUT MODERN INDUSTRIAL MANIPULATOR Robot is a type of mechantronics equipment which synthesizes the last research achievement of engine and precision engine, micro-electronics and computer, automation control and drive, sensor and message dispose and artificial intelligence and so on. With the development of economic and the demand for automation control, robot technology is developed quickly and all types of the robots products are come into being. The practicality use of robot not only solves the problems which are difficult to operate for human being, but also advances the industrial automation program. Modern industrial robots are true marvels of engineering. A robot the size of a person can easily carry a load over one hundred pounds and move it very quickly with a repeatability of 0.006inches. Furthermore these robots can do that 24hours a day for years on end with no failures whatsoever. Though they are reprogrammable, in many applications they are programmed once and then repeat that exact same task for years.At present, the research and development of robot involves several kinds of technology and the robot system configuration is so complex that the cost at large is high which to a certain extent limit the robot abroad use. To development economic practicality and high reliability robot system will be value to robot social application and economy development. With he rapid progress with the control economy and expanding of the modern cities, the let of sewage is increasing quickly; with the development of modern technology and the enhancement of consciousness about environment reserve, more and more people realized the importance and urgent of sewage disposal. Active bacteria method is an effective technique for sewage disposal. The abundance requirement for lacunaris plastic makes it is a consequent for plastic producing with automation and high productivity. Therefore, it is very necessary to design a manipulator that can automatically fulfill the plastic holding. With the analysis of the problems in the design of the plasticholding manipulator and synthesizing the robot research and development conditionin recent years, a economic scheme is concluded on the basis of the analysis of mechanical configuration, transform system, drive device and control system and guided by the idea of the characteristic and complex of mechanical configuration, electronic, software and hardware. In this article, the mechanical configuration combines the character of direction coordinate which can improve the stability and operation flexibility of the system. The main function of the transmission mechanism is to transmit power to implement department and complete the necessary movement. In this transmission structure, the screw transmission mechanism transmits the rotary motion into linear motion. Worm gear can give vary transmission ratio. Both of the transmission mechanisms have a characteristic of compact structure. The design of drive system often is limited by the environment condition and the factor of cost and technical lever. The step motor can receive digital signal directly and has the ability to response outer environment immediately and has no accumulation error, which often is used in driving system. In this driving system, open-loop control system is composed of stepping motor, which can satisfy the demand not only for control precision but also for the target of economic and practicality. On this basis, the analysis of stepping motor in power calculating and style selecting is also given. The analysis of kinematics and dynamics for object holding manipulator is given in completing the design of mechanical structure and drive system.Current industrial approaches to robot arm control treat each joint of the robot arm as a simple joint servomechanism. The servomechanism approach models the varying dynamics of a manipulator inadequately because it neglects the motion and configuration of the whole arm mechanism. These changes in the parameters of the controlled system sometimes are significant enough to render conventional feedback control strategies ineffective. The result is reduced servo response speed and damping, limiting the precision and speed of the end-effecter and making it appropriate only for limited-precision tasks. Manipulators controlled in this manner move at slow speeds with unnecessary vibrations. Any significant performance gain in this and other areas of robot arm control require the consideration of more efficient dynamic models, sophisticated control approaches, and the use of dedicated computer architectures and parallel processing techniques.In the industrial production and other fields, people often endangered by such factors as high temperature, corrode, poisonous gas and so forth at work, which have increased labor intensity and even jeopardized the life sometimes. The corresponding problems are solved since the robot arm comes out. The arms can catch, put and carry objects, and its movements are flexible and diversified. It applies to medium and small-scale automated production in which production varieties can be switched. And it is widely used on soft automatic line. The robot arms are generally made by withstand high temperatures, resist corrosion of materials to adapt to the harsh environment. So they reduced the labor intensity of the workers significantly and raised work efficiency. The robot arm is an important component of industrial robot, and it can be called industrial robots on many occasions. Industrial robot is set machinery, electronics, control, computers, sensors, artificial intelligence and other advanced technologies in the integration of multidisciplinary important modern manufacturing equipment. Widely using industrial robots, not only can improve product quality and production, but also is of great significance for physical security protection, improvement of the environment for labor, reducing labor intensity, improvement of labor productivity, raw material consumption savings and lowering production costs.There are such mechanical components as ball footbridge, slides, air control mechanical hand and so on in the design. A programmable controller, a programming device, stepping motors, stepping motors drives, direct current motors, sensors, switch power supply, an electromagnetism valve and control desk are used in electrical connection.关于现代工业机械手文章出处：1994-2009 China Academic Joumal Electronic Publishing House机器人是典型的机电一体化装置，它综合运用了机械与精密机械、微电子与计算机、自动控制与驱动、传感器与信息处理以及人工智能等多学科的最新研究成果，随着经济技术的发展和各行各业对自动化程度要求的提高，机器人技术得到了迅速发展，出现了各种各样的机器人产品。
搬运机械手毕业设计
（此文档为word格式，下载后您可任意编辑修改！）毕业论文（设计）题目搬运机械手PLC控制系统 _______________________________ 专业年级08级机电一体化4班 _________________________________ 指导教师熊才高职称高级工程师2011年5月20日随着工业自动化的普及和发展，控制器的需求量逐年增大，搬运机械手的应用也逐渐普及，主要在汽车，电子，机械加工、食品、医药等领域的生产流水线或货物装卸调运，可以更好地节约能源和提高运输设备或产品的效率，以降低其他搬运方式的限制和不足，满足现代经济发展的要求。
本机械手的机械结构主要包括由两个电磁阀控制的液压钢来实现机械手的上升下降运动及夹紧工件的动作，两个转速不同的电动机分别通过两线圈控制电动机的正反转，从而实现小车的快进、慢进、快退、慢退的运动运动；其动作转换靠设置在各个不同部位的行程开关(SQ1---SQ9)产生的通断信号传输到PLC控制器，通过PLC内部程序输出不同的信号，从而驱动外部线圈来控制电动机或电磁阀产生不同的动作，可实现机械手的精确定位；其动作过程包括：下降、夹紧、上升、慢进、快进、慢进、延时、下降、放松、上升、慢退、快退、慢退；其操作方式包括：回原位、手动、单步、单周期、连续；来满足生产中的各种操作要求。
关键词：搬运机械手可编程控制器(PLC 液压电磁阀AbstractWith the popularity of in dustrial automati on and developme nt, the dema nd foryear- on-year in crease of con troller, of robot gradually popularity, mainly in the automotive, electro nic, mecha ni cal process ing, food, medici ne and other areas of the product ion line or cargo tran sport, we can be more good to save en ergy and improve the tran sport efficie ncy of equipme nt or products, to reduce restrict ions on other modes of tran sportati on and in adequate to meet the requireme nts of moder n econo mic developme nt.The man ipulator mecha ni cal structure in cludes two sole noid valves con trolled by sports and workpiece clampi ng actio n, the two differe nt motor speed through the two motor coils positive con trol in order to achieve car of the fast-forward, slow forward, fast rew ind, slow moveme nt back moveme nt; conv ersi on by sett ing its action in various differe nt parts of the trip switch (SQ1 --- SQ9) gen erated on-off sig nal tran smissi on to the PLC con troller, through the PLC in ternal differe nt output sig nal, which drives the exter nal coil to con trol the motor or sole noid valves , the robot can achieve precise positi oning; their course of actio n in clude: decli ne in clampi ng in creased, slow forward, fast forward, slow progress, the exte nsion of , the drop in, relax, rise, slow back, rew ind, slow back; its operati on, in clud ing: Back in situ, manu al, sin gle-step, sin gle cycle, con ti nu ous; to meet the product ion requireme nts of the various operati ons and maintenan ce.Keywords:)和柔性制造单元FMC(Flexible Manufacturing Cell) 中重要一环。
物料搬运机械手毕业设计
摘要机械手的积极作用正日益为人们所认识，其一，它能部分地代替人的劳动并能达到生产工艺的要求，遵循一定的程序、时间和位置来完成工件的传送。
因为，它能大大地改善工人的劳动条件，加快实现工业生产机械化和自动化的步伐。
因此，受到各先进单位的重视并投入了大量的人力物力加以研究和应用。
尤其在高温、高压、粉尘、噪声的场合，应用得更为广泛。
在我国，近代几年来也有较快的发展，并取得一定的成果，受到各工业部门的重视。
在生产过程中，经常要对流水线上的产品进行分捡，本次毕业设计拟开发物料搬运机械手，采用的德国西门子S7-200系列PLC，对机械手的上下、左右以及抓取运动进行控制。
用于分捡大小球的机械装置。
我们利用可编程技术，结合相应的硬件装置，控制机械手完成各种动作。
PLC应用系统设计主要包括硬件设计、软件设计、施工设计和安装调试等内容。
本次毕业设计着重在系统设计和程序设计。
关键词：机械手 PLC 大小球分拣系统ABSTRACTThe positive role of the robot is increasingly being recognized, first, it can partially replace human labor and to achieve the production requirements, follow certain procedures, time and location of the workpiece to complete the transfer. Because it can greatly improve the working conditions of workers, industrial production to accelerate the pace of mechanization and automation. Therefore, the attention from all the advanced units and put a lot of manpower and resources to research and application. Especially in the high-temperature, high pressure, dust and noise of the occasion, applied more widely. In China, the modern years have rapid development, and achieved certain results, the importance attached by the various industrial sectors. In the production process, often the product of the sorting line, this graduation design is planned to develop material handling robot, using Siemens S7-200 series PLC, the mechanical hand up and down, left and right, and grab control of movement. The size of the ball for the sorting machinery. We use programmable technology, combined with the appropriate hardware devices, control the mechanical hand to complete a variety of actions. PLC application system design including hardware design, software design, construction design and installation and so on. This course emphasizes the system design and programming.Key word:manipulator PLC size of zhe ball sorting system目录1 PLC应用系统设计基础知识 (1)1.1 PLC控制系统设计的原则和内容 (1)1.2 PLC的选型 (1)1.2.1 性能与任务相适应 (1)1.2.2 PLC的处理速度应满足时实控制的要求 (2)1.2.3 PLC应用系统结构合理、机型系列应统一 (2)2 PLC控制系统硬件设计 (4)2.1 按钮和行程开关的选择 (4)2.1.1 按钮的介绍及选择 (4)2.1.2 行程开关的介绍及选择 (4)2.2 接近开关、转换开关、刀开关的选择 (5)2.2.1 接近开关的介绍及选择 (5)2.2.2 转换开关的介绍及选择 (6)2.2.3 刀开关的介绍及选择 (7)2.3时间继电器、接触器的选择 (8)2.3.1 时间继电器的介绍及选择 (8)2.3.2 接触器的介绍及选择 (9)2.4 熔断器、电动机的选择 (10)2.4.1 熔断器的介绍及选择 (10)2.4.2 电动机的介绍及选择 (11)2.5 电磁阀的介绍及选择 (11)2.5.1 电磁阀的介绍 (11)2.5.2 电磁阀的选择 (12)3 PLC在大小球分选系统中的设计 (13)3.1 系统的功能及结构 (13)3.1.1 系统的功能 (13)3.1.2 系统的设计思想 (13)3.2 分拣系统的工作原理 (14)3.3 分拣系统的地址分配及接线图 (15)3.3.1 分拣系统的地址分配 (15)3.3.2 系统接线图 (16)4 大小球分拣系统的程序设计 (16)4.1 系统的状态流程图 (16)4.2 分拣系统的梯形图 (18)结论 (23)谢辞 (24)参考文献 (25)1 PLC应用系统设计基础知识1.1 PLC控制系统设计的原则和内容PLC应用系统设计主要包括硬件设计、软件设计、施工设计和安装调试等内容。
四自由度搬运机械手的设计毕业论文
四自由度搬运机械手的设计毕业论文1引言1.1机械手研究的背景及其意义机械手是当今世界的科技革命发展飞速变革的必然产物，它的出现标志着现今的工业、制造业水平发展到了前所未有高水平阶段。
最初出现的机械手只是应用在航空航天和海洋勘探等高端科技领域，随着近几十年来计算机在科技领域全面应用，科技革命的变革也加速了科学技术的蓬勃发展。
在此背景下机械手技术也在飞速发展，并且在其应用领域也不断地深入、飞速地拓宽，特别是近些年来机械手在现代制造业领域更是得到了非常广泛的应用。
由于机械手是通过预先编写好的程序来控制其动作次序和轨迹，所以机械手可以代替人力去完成那些单调的、重复的、特别是对于人类来说毫无意义的工作，除此之外机械手还能够在恶劣的环境中完成那些人类不想完成的或不能完成的工作，特别是在一些危险的工作环境或者是对精度要求较高的工作条件之下，机械手相比较人力有得天独厚的优势——机械手在某些邻域能够完全替代人力，将人类从脏、乱、差的工作环境中解放出来，这是人类社会几千年来的又一次变革和人类生活方式的又一次蜕变。
特别是近几十年来工业、制造业领域在机械手的广泛应用下发生了伟大的变革，在此背景下整个社会的生产力水平、产品生产质量和生产效率大大提高，与此同时在工业生产中现代工人的劳动强度也大大降低。
机械手技术虽然发展迅猛，但现在市场上的机械手大多还处在高端应用领域，价格也相对昂贵，不能满足低成本、低层次应用领域的需求。
所以本课题希望设计出一种成本低、应用层次相对较低的机械手，填补这一领域市场的空白，这对于工业、制造业领域以及人类社会的发展都具有及其重要的意义和价值。
在机械手技术领域中，机械手在模型设计上，四自由度机械手是机械手产品中的典型设计模型，在技术上，四自由度机械手技术门槛相对较低——四自由度便于设计和实现，在应用层面上，四自由度机械手对于一般的重复性工作条件完全满足，在成本上，四自由度机械手在满足一些复杂动作的工作条件下便于实现低成本，也就说其性价比相对较高，所以本论文以《四自由度搬运机械手》为课题进行研究旨在设计出一个比较实用的、成本低的、具有一定的实际应用价值的机械手。
机械手外文翻译---立柱式助力机械手设计
毕业设计外文资料翻译题目立柱式助力机械手设计学院机械工程学院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Manufacturing Engineering and Technology——Machining, 2004The Design of Hand Column Type Power MachineSerope kalpak jian,Steven R.SchmidShanghai Metallurgical Research Institute of Chinese Academy of Sciences AbstractMachine hand developed in recent decades as high-tech automated production equipment. Industrial machine hand is an important branch of industrial machine hands. It features can be programmed tasks in a variety of expectations, in both structure and performance advantages of their own people and machines, in particular, reflects the peo ple’s intelligence and adaptability. The accuracy of machine hand 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 marching center, it is in reducing labor intensity, while greatly improves labor productivity. However, the upper and lower common in CNC marching 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, writing complexity, vulnerability to body vibration interference, while the existence of poor reliability, fault more maintenance problems and other issues. Programmable Logic Controller PLC-controlled machine hand control system for material up and down movement is simple, circuit design is reasonable, while a strong anti-jamming capability, ensuring the system’s reliability, reduced maintenance rate, and improve work efficiency. Machine hand 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 technology.1. An overview of industrial manipulatorMachine hand is a kind of positioning control which 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 Unites 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, localplastic 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.Machine hand 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 injures. 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 machine hand 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 machine hand to be used in actual production.Why would a machine hand designed to provide a pneumatic power: pneumatic machine hand refers to the compressed air as power source-driven machine hand. 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 flies 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.2. The composition, mechanical handMachine hand 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 agenciesManipulator executing agency by the hands, wrists, arm, pillars. Hands are crawling institutions, is used to clamp and release the work piece, 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.TransmissionThe actuator to be achieved by the transmission system. Sub-transmission system commonly used manipulator mechanical transmission, hydraulic transmission, pneumatic and electric powertransmission and other drive several forms.3.Control SystemManipulator control system’s main role is to control the machine hand 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 machine hand controller, the micro-computer control..3. Mechanical hand classification and characteristicsMachine hands 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 materi al 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 featuresFirst, mechanical hand (the upper and lower material machine hand, assembly machine hand, handling machine hand, stacking machine hand, help machine hand, 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 handManipulator 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 machine hand development and production of high-tech fields has become a rapidly developed a new technology, which further promoted the development of machine hand, allowing machine hand to better achieved with the combination of mechanization and automation.Although the machine hand 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 applied widely, for example: a)Machining the work piece loading and unloading, especially in the automatic lathe, combinationmachine tool use is more common.b)In the assembly operations are widely used in the electronics industry, it can be used to assembleprinted circuit boards, in the machinery industry. It can be used to assemble parts and components.c)The working conditions may be poor, monotonous, repetitive easy to sub-fatigue workingenvironment to replace human labor.d)May be in dangerous situations, such as military goods handling, dangerous goods and hazardousmaterial removal and so on.e)Universe and ocean development.f)Military engineering and biomedical research and testing.Help mechanical hand: all know 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 applications needs, creating customized cases.Manual operation of a simulation of the automatic machinery, it can be a fixed program draws, handling objections or perform household tools to accomplish certain specific actions. Application of machine hand 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 safely. The late 20th century,40, the United Stated atomic energy experiment, the first use of radioactive material handling machine hand, human machine hand in a safe room to 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. Machine hand body mainly by the hand and sport 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 indecently retractable, rotation and lifting movements, generally 2 to 3 degrees of freedom. Machine hands are widely used in metallurgical industry, machinery manufacture, light industry and atomic energy sectors.It can replace human labor in order to achieve the production of heavy mechanization and automation that can operate in hazardous environment 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 work piece, 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 material used in the master-slave manipulator is also often referred to as mechanical hand.Manipulator mainly by hand and sport institutions. Task of hand is holding the work piece (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 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.Machine hand 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 recently years, as electronic technology, especially computer extensive use of machine hand development and product of high-tech fields has become a rapidly developed a new technology, which further promoted the development of machine hand, allowing machine hand to better achieved with the combination of mechanization and automation. Machine hand can replace humanscompleted the risk of duplications 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 machine hand 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 machine hand 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 machine hand 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 meaningful.Manufacturing Engineering and Technology——Machining, 2004立柱式助力机械手设计Serope kalpak jian,Steven R.Schmid中国科学院上海冶金研究所摘要：机械手是近几十年发展起来的一种高科技自动化生产设备。
毕业设计(论文)-五自由度液压搬运机械手[管理资料]
![毕业设计(论文)-五自由度液压搬运机械手[管理资料]](https://img.taocdn.com/s3/m/32282abe767f5acfa0c7cd2b.png)
五自由度液压搬运机械手设计摘要本设计的内容是对五自由度液压搬运机械手的总体外形进行设计，运动范围进行规划，运动路线的调整，及其本机械手的驱动系统进行设计，液压路线图中的所用原件进行精心选取，之后进行油路的设计，首先，本任务书对机械手在现代社会中的作用以及现在的发展现状进行了简单介绍，其中还包括了机械手的研究意义，机械手相比于人手所具有的一系列优点。
对总体方案进行了设计，确定设计一种五自由度搬运机器手，包括机器手的总体设计，移动方式设计，动作规划设计，三维造型设计等。
其次，对机械手本身的一些基本技术参数进行了确定，并且初步规划出了总体外观简图，用AUTOCAD软件绘制了液压原理图，此原理图的各个原件的选取在后来的计算中得以确定，然后在第4章进行了各个部分的具体计算，其中包括了手部夹持器的计算，腕部回转油缸计算，小臂结构的的设计，俯仰缸的伸缩数据的确定，大臂回转油缸的设计，大臂升降机构的设计，手部驱动油缸油孔尺寸计算，腕部回转油缸油孔尺寸确定，大臂回转油缸油孔尺寸确定，大臂升降油缸油孔尺寸确定，伸缩臂油缸油孔尺寸确定，在各个油缸选定之后，现在可以对油缸活塞杆进行校核，第5章对活塞杆进行了校核，其中包括手部驱动油缸活塞杆校核，腕部回转油缸活塞杆校核，伸缩油缸活塞杆校核，俯仰油缸活塞杆校核。
最后，在各个数据最终确定后，本设计还对机械手的三维效果图在第6章进行了绘制。
关键词机械手；五自由度；搬运；液压The design of five freedom degrees hydraulicporterage machine handAbstractThe contents of this design is the total shape that transports a machine hand to five freedom degrees hydraulic to carry on a design, exercise the scope carry on a programming, sport route of adjustment, and it originally driving of machine hand the system carry on designing, the component used in the hydraulic route diagram carries on with meticulous care selection, after carry on the design of oil road, first, this task book to machine hand at modern social in of function and the development present condition in nowadays carried on simple introduction and still included the research meaning of machine hand among them, machine palm reading compare at a series of advantage had by on a design to the total project, made sure to design a kind of five freedom degrees porterage machine hand, including the total design of machine hand, move a way design, the action programed a design, the 3D shape designs etc..Carried on an assurance to some basic technique parameters of the machine hand secondly, and the first step programed total external appearance sketch plan, drew hydraulic principle with the AUTOCAD software diagram, this the selection of each component of the principle diagram can make sure in the later calculation, then as for concrete calculation that carried on each part in chapter 4, calculation included a hand to clip and hold a machine among them, the wrist department turns round an oil urn and computes, small arm structure of of design, the flexible data of the urn of Fu Yang really settle, the big arm turns round an oil urn of design, the big arm ascends and descends organization of design, the hand drives an oil urn oil bore the size compute, wrist department turn round oil urn oil bore size assurance, the big arm turns round oil urn oil bore size assurance, the big arm ascends and descends oil urn oil bore size assurance, flexible arm oil urn oil bore size assurance, after the each oil urnmakes selection, now can to oil urn the piston pole carry on school pit, chapter 5 carried on school to the piston pole pit, include a hand and drive oil among them urn piston pole school pit, wrist department turn round oil urn piston pole school pit, flexible oil urn piston pole school pit, Fu Yang oil urn piston pole school , at each piece according to after the end assurance, this design still carried on to draw in chapter 6 to the 3D effect diagram of machine hand.Keywords robot hand; five freedom degree; portage; hydraulic pressure目录摘要 (I)Abstract (II)第1章绪论 (6) (6)机械手的研究意义及其本身优点 (7)机械手的研究意义 (7)机械手本身的优点 (7) (8)第2章总体方案设计 (9) (9) (9) (9) (9) (10) (12)第3章基本参数及二维外观图 (13) (13) (13) (13) (14) (15)第4章各部分的具体计算 (16)手部夹持器的计算 (16) (16) (16) (17) (18) (22) (25) (27) (29) (31) (31) (32) (32) (32) (33)第5章各油缸活塞杆校核 (34)手部驱动油缸活塞杆校核 (34)腕部回转油缸活塞杆校核 (34)伸缩油缸活塞杆校核 (35)俯仰油缸活塞杆校核 (35)本章小结 (36)第6章总体三维图 (37)总体三维图 (37)本章小结 (38)结论 (39)致谢 (40)参考文献 (41)附录 (42)第1章绪论机器人是典型的机电一体化装置，它综合运用了机械与精密机械、微电子与计算机、自动控制与驱动、传感器与信息处理以及人工智能等多学科的最新研究成果，随着经济的发展和各行各业对自动化程度要求的提高，机器人技术得到了迅速发展，出现了各种各样的机器人产品。
搬运机械手的设计论文(完整版)
摘要随着工业自动化的普及和发展,控制器的需求量逐年增大，搬运机械手的应用也逐渐普及,主要在汽车，电子,机械加工、食品、医药等领域的生产流水线或货物装卸调运, 可以更好地节约能源和提高运输设备或产品的效率，以降低其他搬运方式的限制和不足，满足现代经济发展的要求。
搬运机械手是一种能自动化定位控制并可重新编程序以变动的多功能机器，在本设计中，通过对机械手手部结构的设计,臂部结构的设计，以及液压系统的设计，实现四自由度的运动，完成了搬运机械手的系统结构设计。
关键词：搬运机械手；结构设计；液压系统；四自由度ABSTRACTWith the popularization and development of industrial automation，control demand increased year by year，carrying manipulator application also gradually popular, mainly in the automotive，electronics, machinery，food, medicine and other fields of production lines or cargo transport, can be better to save energy and improve the efficiency of transport equipment or products, in order to reduce other handling the limitation and inadequacy, meet the needs of modern economic development.Manipulator is a kind of automatic positioning control and can be programmed to change the multi-function machines，In this design，through the mechanical hand arm structure design, structure design，and the design of the hydraulic system, to achieve four degrees of freedom movement,completed the manipulator system structure design。
物料搬运机器人手的系统设计
天津大学毕业设计中文题目：物料搬运机器人手部系统的设计英文题目：Material handling system design robotHand department学生姓名系别机电专业班级 2指导教成绩评定2010年6月目录1 引言 01.1 机器人概述 01.2 机器人的研究历史及现状 01.3 机器人的发展趋势 (1)2 手部的设计与计算 (2)2.1 手部的设计 (2)2.2 驱动方式 (2)2.3 手部夹紧力的计算 (4)2.4 弹簧的计算[6] (4)2.5 手部电机选择原则【7】........................... 错误！未定义书签。
2.5.1 一般执行电机的选择原则...................... 错误！未定义书签。
2.5.2 电机的选用.................................. 错误！未定义书签。
2.6 手部电机参数计算.............................. 错误！未定义书签。
2.7 电机转速与夹紧力速度几何关系的确定............ 错误！未定义书签。
3 手臂的设计与计算............................... 错误！未定义书签。
3.1 手臂结构设计.................................. 错误！未定义书签。
3.2 手部质量计算.................................. 错误！未定义书签。
3.2.1 爪子的质量计算.............................. 错误！未定义书签。
3.2.2 手部外壳质量计算............................ 错误！未定义书签。
3.2.3 手部主轴的质量计算.......................... 错误！未定义书签。
3.2.4 其它部件的质量估算.......................... 错误！未定义书签。
- 1、下载文档前请自行甄别文档内容的完整性，平台不提供额外的编辑、内容补充、找答案等附加服务。
- 2、"仅部分预览"的文档,不可在线预览部分如存在完整性等问题,可反馈申请退款(可完整预览的文档不适用该条件!)。
- 3、如文档侵犯您的权益，请联系客服反馈,我们会尽快为您处理(人工客服工作时间：9:00-18:30)。
德国机器制造业是从1970年开始应用机械手，主要用于起重运输、焊接和设备的上下料等作业。德国KnKa公司还生产一种点焊机械手，采用关节式结构和程序控制。
第二代机械手正在加紧研制。它设有微型电子计算机控制系统，具有视觉、触觉能力，甚至听、想的能力。研究安装各种传感器，把感觉到的信息反馈，使机械手具有感觉机能。目前国外已经出现了触觉和视觉机械手。
第三代机械手（机械人）则能独立地完成工作过程中的任务。它与电子计算机和电视设备保持联系。并逐步发展成为柔性制造系统FMS(Flexible Manufacturing system)和柔性制造单元(Flexible Manufacturing Cell)中重要一环。
机械手是一种能自动控制并可从新编程以变动的多功能机器，他有多个自由度，可以搬运物体以完成在不同环境中的工作。
机械手的结构形式开始比较简单，专用性较强。随着工业技术的发展，制成了能够独立的按程序控制实现重复操作，适用范围比较广的“程序控制通用机械手”，简称通用机械手。由于通用机械手能很快的改变工作程序，适应性较强，所以它在不断变换生产品种的中小批量生产中获得广泛的引用。
工业机械手是近几十年发展起来的一种高科技自动生产设备。工业机械手也是工业机器人的一个重要分支。他的特点是可以通过编程来完成各种预期的作业，在构造和性能上兼有人和机器各自的优点，尤其体现在人的智能和适应性。机械手作业的准确性和环境中完成作业的能力，在国民经济领域有着广泛的发展空间。
机械手的发展是由于它的积极作用正日益为人们所认识：其一、它能部分的代替人工操作；其二、它能按照生产工艺的要求，遵循一定的程序、时间和位置来完成工件的传送和装卸；其三、它能操作必要的机具进行焊接和装配，从而大大的改善了工人的劳动条件，显著的提高了劳动生产率，加快实现工业生产机械化和自动化的步伐。因而，受到很多国家的重视，投入大量的人力物力来研究和应用。尤其是在高温、高压、粉尘、噪音以及带有放射性和污染的场合，应用的更为广泛。在我国近几年也有较快的发展，并且取得一定的效果，受到机械工业的 。
瑞士RETAB公司生产一种涂漆机械手，采用示教方法编制程序。
瑞典安莎公司采用机械手清理铸铝齿轮箱毛刺等。
日本是工业机械手发展最快、应用最多的国家。自1969年从美国引进二种典型机械手后，大力研究机械手的研究。据报道，1979年从事机械手的研究工作的大专院校、研究单位多达50多个。1976年个大学和国家研究部门用在机械手的研究费用42%。1979年日本机械手的产值达443亿日元，产量为14535台。其中固定程序和可变程序约占一半，达222亿日元，是1978年的二倍。具有记忆功能的机械手产值约为67亿日元，比1978年增长50%。智能机械手约为17亿日元，为1978年的6倍。截止1979年，机械手累计产量达56900台。在数量上已占世界首位，约占70%，并以每年50%～60%的速度增长。使用机械手最多的是汽车工业，其次是电机、电器。预计到1990年将有55万机器人在工作。
1962年美国机械铸造公司也试验成功一种叫Versatran机械手，原意是灵活搬运。该机械手的中央立柱可以回转，臂可以回转、升降、伸缩、采用液压驱动，控制系统也是示教再现型。虽然这两种机械手出现在六十年代初，但都是国外工业机械手发展的基础。
1978年美国Unimate公司和斯坦福大学、麻省理工学院联合研制一种Unimate-Vic-arm型工业机械手，装有小型电子计算机进行控制，用于装配作业，定位误差可小于±1毫米。
随着工业机器手（机械人）研究制造和应用的扩大，国际性学术交流活动十分活跃，欧美各国和其他国家学术交流活动开展很多。
1.3
机械手是工业自动控制领域中经遇到的一种控制对象。机械手可以完成许多工作，如搬物、装配、切割、喷染等等，应用非常广泛 。
在现代工业中，生产过程中的自动化已成为突出的主题。各行各业的自动化水平越来越高，现代化加工车间，常配有机械手，以提高生产效率，完成工人难以完成的或者危险的工作。可在机械工业中，加工、装配等生产很大程度上不是连续的。据资料介绍，美国生产的全部工业零件中，有75%是小批量生产；金属加工生产批量中有四分之三在50件以下，零件真正在机床上加工的时间仅占零件生产时间的5%。从这里可以看出，装卸、搬运等工序机械化的迫切性，工业机械手就是为实现这些工序的自动化而产生的。目前在我国机械手常用于完成的工作有：注塑工业中从模具中快速抓取制品并将制品传诵到下一个生产工序；机械手加工行业中用于取料、送料；浇铸行业中用于提取高温熔液等等。本文以能够实现这类工作的搬运机械手为研究对象。下面具体说明机械手在工业方面的应用。
1
1.1
用于再现人手的的功能的技术装置称为 。机械手是模仿着人手的部分动作，按给定程序、轨迹和要求实现自动抓取、搬运或操作的自动机械装置。在工业生产中应用的机械手被称为 。
工业机械手是近代自动控制领域中出现的一项新技术，并已成为现代机械制造生产系统中的一个重要组成部分，这种新技术发展很快，逐渐成为一门新兴的学科——机械手工程。机械手涉及到力学、机械学、电器液压技术、自动控制技术、传感器技术和计算机技术等科学领域，是一门跨学科综合技术。
1.2
现代工业机械手起源于20世纪50年代初，是基于示教再现和主从控制方式、能适应产品种类变更，具有多自由度动作功能的柔性自动化 。
机械手首先是从美国开始研制的。1958年美国联合控制公司研制出第一台机械手。他的结构是：机体上安装一回转长臂，端部装有电磁铁的工件抓放机构，控制系统是示教型的。
1962年，美国机械铸造公司在上述方案的基础之上又试制成一台数控示教再现型机械手。商名为Unimate(即万能自动)。运动系统仿造坦克炮塔，臂回转、俯仰，用液压驱动；控制系统用磁鼓最存储装置。不少球坐标式通用机械手就是在这个基础上发展起来的。同年该公司和普鲁曼公司合并成立万能自动公司（Unimaton）,专门生产工业机械手。