外文翻譯--機械手模型設計及制作

1、<p><b>　　英文原文</b></p><p>　　Robot hand model design and production</p><p>　　Scientific concept of development of engineering technology has opened up a broad road, while the robo

2、t as a high-tech automated production equipment, has been widely used in various fields of national economy, which the education and training sector of our proposed new requirements. Therefore, in order to adapt to the s

3、ituation of social development, based on existing technology to design a teaching type robot science has far-reaching significance.</p><p>　　The subject of design for teaching handling robots, mainly consist

4、s of robot's overall design, robot mechanical structure design, as well as drive, control system design, implementation of the manipulator hands of four degrees of freedom: the arm movements, stretching and wrist, ar

5、m, rotary. The design of the teaching function of mechanical hand requirements and practical significance, achieved by pneumatic cylinders push the arm movements and stretching,rotary pneumatic cylinders used to achiev&l

6、t;/p><p>　　Keywords Manipulator Teaching type Four Degrees of Freedom SCM</p><p>　　1. An overview of industrial manipulator</p><p>　　Machine hand is a kind of positioning control wh

7、ich 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

8、 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

9、 very early </p><p>　　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 t

10、he workers to pay work-related injuries fee challenges.</p><p>　　With the rapid development of China’s industrial production, especially the reform and opening up after the rapid increase in the degree of au

11、tomation 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 attenti

12、on.</p><p>　　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.&l

13、t;/p><p>　　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

14、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?

15、 The answer is yes, but the machine hand can come to replace it.</p><p>　　Production of mechanical hand can increase the automation level of production and labor productivity; can reduce labor intensity, ens

16、uring 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

17、 normal working people. Here I would like to think of designing a machine hand to be used in actual production.</p><p>　　Why would a machine hand designed to provide a pneumatic power: pneumatic machine hand

18、 refers to the compressed air as power source-driven machine hand. With pressure-driven and other energy-driven comparison have the following advantages: </p><p>　　1. Air inexhaustible, used later discharged

19、 into the atmosphere, does not require recycling and disposal, do not pollute the environment. (Concept of environmental protection) </p><p>　　2. Air stick is small, the pipeline pressure loss is small (typi

20、cally less than asphalt gas path pressure drop of one-thousandth), to facilitate long-distance transport. </p><p>　　3. Compressed air of the working pressure is low (usually 4 to 8 kg/per square centimeter),

21、 and therefore moving the material components and manufacturing accuracy requirements can be lowered. </p><p>　　4. With the hydraulic transmission, compared to its faster action and reaction, which is one of

22、 the advantages pneumatic outstanding. </p><p>　　5. The air cleaner media, it will not degenerate, not easy to plug the pipeline. </p><p>　　But there are also places where it flies in the ointme

23、nt: </p><p>　　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. </p&

24、gt;<p>　　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.</p>&

25、lt;p>　　2. The composition, mechanical hand</p><p>　　Machine 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,

26、 usually by the implementing agencies, transmission systems, control systems and auxiliary devices composed.</p><p>　　Implementing agencies</p><p>　　Manipulator executing agency by the hands, wr

27、ists, 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 co

28、mponents 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.</p><p>　　Transmission</p><p>　　T

29、he 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

30、forms.</p><p>　　Control System</p><p>　　Manipulator control system’s main role is to control the machine hand according to certain procedures, direction, position, speed of action, a simple mech

31、anical 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 r

32、equirements of action. Action will have to use complex programmable machine hand controller, the micro-computer control..</p><p>　　3. Mechanical hand classification and characteristics</p><p>　　

33、Machine 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 accordin

34、g 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

35、 the need to manually do it, called the operation of aircraf</p><p>　　Main features</p><p>　　First, mechanical hand (the upper and lower material machine hand, assembly machine hand, handling ma

36、chine hand, stacking machine hand, help machine hand, vacuum handling machines, vacuum suction crane, labor-saving spreader, pneumatic balancer,etc.)</p><p>　　Second, cantilever cranes (cantilever crane, ele

37、ctric chain hoist crane, air balance the hanging, etc.)</p><p>　　Third, rail-type transport system (hanging rail, light rail, single girder cranes, double-beam crane)</p><p>　　Four, industrial m

38、achinery, application of hand</p><p>　　Manipulator in the mechanization and automation of the production process developed a new type of device. In recent years, as electronic technology, especially computer

39、 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 achie

40、ved with the combination of mechanization and automation.</p><p>　　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, no

41、t afraid of danger, the power snatch weight characteristics when compared with manual large, therefore, mechanical hand has been applied widely, for example:

42、 </p><p>　　Machining the work piece loading and unloading, especially in the automatic lathe, combination machine tool use is more common.</p><p>　　In the assembly operations are widely used

43、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.</p><p>　　The working conditions may be poor, monoto

44、nous, repetitive easy to sub-fatigue working environment to replace human labor.</p><p>　　May be in dangerous situations, such as military goods handling, dangerous goods and hazardous material removal and s

45、o on.</p><p>　　Universe and ocean development.</p><p>　　Military engineering and biomedical research and testing.</p><p>　　Help mechanical hand: all know as the balancer, balance su

46、spended, 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-sta

47、ndard design of series products. Customer applications needs, creating customized cases.</p><p>　　Manual operation of a simulation of the automatic machinery, it can be a fixed program draws, handling object

48、ions 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 prod

49、uction, instead of people in hazardous environments manual operation, improving working conditions and ensure personal safely. The late 20th century,40, the United Stated </p><p>　　It can replace human labor

50、 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

51、, 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

52、 piece, the replacement of cutting</p><p>　　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, weigh

53、t, 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 ch

54、ange the location of objects by grasping and posture.</p><p>　　Machine hand is the automated production of a kind used in the process of crawling and moving piece features automatic device, which is mechaniz

55、ed 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

56、rapidly developed a new technology, which further promoted the development of machine hand, allowing machine hand to better achieved wit</p><p><b>　　中文譯文</b></p><p>　　機械手模型設計及制作</

57、p><p>　　科學發(fā)展觀為我國工程技術的發(fā)展開辟了廣闊道路，而機械手作為一種高科技自動化生產(chǎn)設備，已經(jīng)廣泛應用于國民經(jīng)濟的各個領域，這就對我們的教育培訓部門提出了新的要求。因此，為了適應社會發(fā)展的形勢，在現(xiàn)有技術基礎上設計一臺教學型機械手有著深遠的科教意義。</p><p>　　本課題設計的教學型搬運機械手，主要包括機械手的總體方案設計、機械手的機械結(jié)構設計以及驅(qū)動、控制系統(tǒng)設計等，實現(xiàn)了機

58、械手手部的四自由度運動：手臂的升降、伸縮和手腕、手臂的回轉(zhuǎn)。設計中分析了教學型機械手的功能要求和現(xiàn)實意義，通過氣壓缸來實現(xiàn)手臂的升降和伸縮，采用回轉(zhuǎn)氣壓缸來實現(xiàn)手腕和手臂的回轉(zhuǎn)。設計的機械手結(jié)構簡單、便于操作，在單片機的控制下完成預期的動作，能給學生以直觀的印象，達到教學演示的目的。</p><p><b>　　1工業(yè)機械手的概述</b></p><p>　　機械手是

59、一種能自動化定位控制并可重新編程序以變動的多功能機器，它有多個自由度，可用來搬運物體以完成在各個不同環(huán)境中工作。在工資水平較低的中國，塑料制品行業(yè)盡管仍屬于勞動力密集型，機械手的使用已經(jīng)越來越普及。那些電子和汽車業(yè)的歐美跨國公司很早就在它們設在中國的工廠中引進了自動化生產(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)的中國本土塑料加工廠也開始對機械手表現(xiàn)出越來越濃厚的興趣,因為他們要面對工人流失率高,以及工人交工傷費帶來的挑戰(zhàn)。

60、</p><p>　　隨著我國工業(yè)生產(chǎn)的飛躍發(fā)展，特別是改革開放以后，自動化程度的迅速提高，實現(xiàn)工件的裝卸、轉(zhuǎn)向、輸送或操作釬焊、噴槍、扳手等工具進行加工、裝配等作業(yè)自動化，已越來越引起我們的重視。</p><p>　　機械手是模仿著人手的部分動作，按給定的程序、軌跡和要求實現(xiàn)自動抓取、搬運或操作的自動機械裝置。</p><p>　　在現(xiàn)實生活中，你是否會發(fā)現(xiàn)這樣一

61、個問題：在機械工廠里，加工零件裝料的時候是不是很麻煩的，勞動生產(chǎn)率不高，生產(chǎn)成本大，有時候還會發(fā)生一些人為事故，導致加工者受傷。想想看用什么可以代替呢，加工的時候只要有幾個人巡視一下，且可以24小時飽和運作，人行嗎？回答是肯定的，但是機械式可以來代替它。</p><p>　　生產(chǎn)中應用機械手可以提高生產(chǎn)的自動化水平和勞動生產(chǎn)率；可以減輕勞動強度、保證產(chǎn)品質(zhì)量、實現(xiàn)安全生產(chǎn)；尤其是在高溫、高壓、低溫、低壓、粉塵、易

62、爆、有毒氣體和放射性等惡劣的環(huán)境中能夠代替人進行正常工作。想到這我就很想設計一個機械手用于生產(chǎn)實際當中。</p><p>　　為什么選擇設計機械手用氣動來提供動力：氣動機械手是指以壓縮空氣為動力源驅(qū)動的機械手。用氣壓驅(qū)動與其他能源驅(qū)動比較有以下有點：</p><p>　　1.空氣取之不竭，用之果后排入大氣，不育要回收和處理，不污染環(huán)境。（環(huán)保的概念）</p><p>

63、;　　2.空氣的沾性很小，管路中壓力損失也?。ㄒ话銡饴纷枇p失不到油路的千分之一），便于遠距離輸送。</p><p>　　3.壓縮空氣的工作壓力較低（一般為4-8公斤/每平方厘米），因此對動元件的材質(zhì)和制造精度要求可以降低。</p><p>　　4.與液壓傳動相比，它的動作和反應都快，這是氣動突出的優(yōu)點之一。</p><p>　　5.空氣介質(zhì)清潔，亦不會變質(zhì)，管路不

64、易堵塞。</p><p>　　但是也有它美中不足的地方：</p><p>　　1.由于空氣的可壓縮性，只是氣動工作的穩(wěn)定性差，因而造成執(zhí)行機構運動速度和定位精度不易控制。</p><p>　　2.由于使用氣壓較低，輸出力不可能太大，為了增加輸出力，必然使整個氣動系統(tǒng)的結(jié)構尺寸加大。</p><p><b>　　2機械手的組成<

65、/b></p><p>　　機械手的形式是多種多樣的，有的較為簡單，有的較為復雜，但基本的組成形式是相同的，一般由執(zhí)行機構、傳動系統(tǒng)、控制系統(tǒng)和輔助裝置組成。</p><p><b>　　1.執(zhí)行機構</b></p><p>　　機械手的執(zhí)行機構，由手、手腕、手臂、支柱組成。手是抓取機構，用來加緊和松開工件，與人的手指相仿，能夠完成人手的

66、類似動作。手腕是連接手指與手臂的元件，可以進行上下、左右和回轉(zhuǎn)動作。簡單的機械手可以沒有手腕。支柱用來支撐手臂，也可以根據(jù)與要做成移動。</p><p><b>　　2.傳動系統(tǒng)</b></p><p>　　執(zhí)行機構的動作要由傳動系統(tǒng)來實現(xiàn)。常用機械手傳動系統(tǒng)分為機械傳動、液壓傳動、氣壓傳動和電力傳動等幾種形式。</p><p><b&g

67、t;　　3.控制系統(tǒng)</b></p><p>　　機械手控制系統(tǒng)的主要作用是控制機械手按一定的程序、方向、位置、速度進行動作，簡單的機械手一般不設置專用的控制系統(tǒng)，只采用行程開關、繼電器、控制閥及電路便可以實現(xiàn)傳動系統(tǒng)的控制，使執(zhí)行機構按要求進行動作。動作復雜的機械手則要求采用可編程控制器、微型計算機進行控制。</p><p>　　3機械手的分類和特點</p>&

68、lt;p>　　機械手一般分為三類：第一類是不需要人工操作的通用機械手。它是一種獨立的不附屬于某一主機的裝置。它可以根據(jù)任務的需要編制程序，以完成各項規(guī)定的操作。它的特點是具備普通機械的性能之外，還具備通用機械、記憶智能的三元機械。第二類是需要人工才做的，成為操作機。它起源于原子、軍事工業(yè)，先是通過操作機來完成特定的作業(yè)，后來發(fā)展到用無線電訊號操作機來進行探測月球等。工業(yè)中采用的鍛造操作機也屬于這一范疇。第三類是專用機械手，主要附屬

69、于自動機床或自動線上，用以解決機床上下料和工件傳送，這類機械手在國外稱為“Mechanical Hand”它是為主機服務的，由主機驅(qū)動；除少數(shù)外，工作程序一般是固定的，因此是專用的。</p><p><b>　　主要特點：</b></p><p>　?。?）機械手（上下料機械手、裝配機械手、搬運機械手、堆垛機械手、助力機械手、真空搬運機、真空吸吊機、省力吊具、氣動平衡

70、器等）。</p><p>　　（2）懸臂起重機（懸臂吊、電動環(huán)鏈葫蘆吊、氣動平衡吊等）。</p><p>　?。?）導軌式搬運系統(tǒng)（懸掛軌道、輕型軌道、單梁起重機、雙梁起重機）。 </p><p>　?。?）工業(yè)機械手的應用</p><p>　　機械手是在機械化、自動化生產(chǎn)過程中發(fā)展起來的一種新型裝置。近年來，隨著電子技術特別是電子

71、計算機的廣泛應用，機器人的研制和生產(chǎn)已成為高技術領域內(nèi)迅速發(fā)展起來的一門新興技術，它更加促進了機械手的發(fā)展，使得機械手能更好地實現(xiàn)與機械化自動化的有機結(jié)合。</p><p>　　機械手雖然目前還不如人手那樣靈活，但它具有能不斷重復工作和勞動、不知疲勞、不怕危險、抓舉重物的力量比人手大等特點，因此，機械手已受到許多部門的重視，并越來越廣泛地得到了應用，例如：</p><p>　　機床加工工件

72、的裝卸，特別是在自動化車床，組合機床上使用較為普遍。</p><p>　　在裝配作業(yè)中應用廣泛，在電子行業(yè)中它可以用來裝配印制電路板，在機械行業(yè)中它可以用來組裝零部件。</p><p>　　可在勞動條件差，單調(diào)重復易疲勞的工作環(huán)境工作，以代替認的勞動。</p><p>　　可在危險場合下工作，如軍工品的裝卸、危險品及有害物的搬運等。</p><p

73、><b>　　宇宙及海洋的開發(fā)。</b></p><p>　　軍事工程及生物醫(yī)學方面的研究和實驗。</p><p>　　助力機械手：又稱平衡器、平衡吊、省力吊具、手動移載機等，是一種無重力化手動承載系統(tǒng)，一種新穎的、用于物料搬運時省力化操作的助力設備，屬于一種非標設計的系列化產(chǎn)品。針對客戶應用需求，量身定制的個案創(chuàng)作。</p><p>　

74、　一種模擬人手操作的自動機械，它可按固定程序抓取、搬運物件或操持工具完成某些特定操作。應用機械手可以代替人從事單調(diào)、重復或繁重的體力勞動，實現(xiàn)生產(chǎn)的機械化和自動化，代替人在有害的環(huán)境下的手工操作，改善勞動條件，保證人身安全。20世紀40年代后期，美國在原子能試驗中，首先采用機械手搬運放射性材料，人在安全室操縱機械手進行各種操作和實驗。50年代以后，機械手逐步推廣到工業(yè)生產(chǎn)部門，用于在高溫、污染嚴重的地方取放工件和裝卸材料，也作為機床的輔

75、助裝置在自動機床、自動生產(chǎn)線和加工中心中應用，完成上下料或從刀庫中取放道具并按固定程序更換刀具等操作。機械手主要有手部機構和運動機構組成。手部機構隨使用場合和操作對象而不同，常見的有加持、托持和吸附等類型。運動機構一般由液壓、氣動、電氣裝置驅(qū)動。機械手可獨立地實現(xiàn)伸縮、旋轉(zhuǎn)和升降等運動，一般有2~3個自由度。機械手廣泛用于機械制造、冶金、輕功和原子能等部門。</p><p>　　能模仿人手和臂的某些動作功能，用以

76、按固定程序抓取、搬運物件或操作工具的自動操作裝置。它可代替人的繁重勞動以實現(xiàn)生產(chǎn)的機械化和自動化，能在有害環(huán)境下操作以保護人身安全，因而廣泛應用于機械制造、冶金、電子、輕工和原子能等部門。機械手通常用作機床或其他機器的附加裝置，如在自動機床或自動生產(chǎn)線上裝卸和傳遞工件，在加工中心更換刀具等，一般沒有獨立的控制裝置。有些操作裝置需要由人直接操縱如用于原子能部門操持危險物品的主從式操作手也常稱為機械手。</p><p&g

77、t;　　機械手主要由手部和運動機構組成。手部是用來抓持工件（或工具）的部件，根據(jù)被抓持物件的形狀、尺寸、重量、材料和作業(yè)要求而有有多種結(jié)構形式，如加持型、托持型和吸附型等。運動機構，使手部完成各種轉(zhuǎn)動（擺動）、移動或復合運動來實現(xiàn)規(guī)定的動作，改變被抓持物件的位置和姿勢。</p><p>　　機械手是在自動化生產(chǎn)過程中使用的一種具有抓取和移動工件功能的自動化裝置，它是在機械化，自動化生產(chǎn)過程中發(fā)展起來的一種新型裝置

78、。近年來，隨著電子技術特別是電子計算機的廣泛應用，機器人的研制和生產(chǎn)已成為高技術領域內(nèi)迅速發(fā)展起來的一門新興技術，它更加促進了機械手的發(fā)展，使得經(jīng)銷商能更好地實現(xiàn)與機械化和自動化的有機結(jié)合。機械手能代替人類完成危險、重復枯燥的工作，減輕人類勞動強度，提高勞動生產(chǎn)力。機械手越來越得到了廣泛的應用，在機械行業(yè)中它可用于零部件的組裝，加工工件的搬運、裝卸，特別是在自動化數(shù)控機床、組合機床上使用更普遍。目前，機械手已發(fā)展成為柔性制造系統(tǒng)FMS和

79、柔性制造單元FMC中一個重要組成部分。吧機床設備和機械手共同構成一個柔性加工系統(tǒng)或柔性制造單元，它適用于中、小批量生產(chǎn)，可以節(jié)省龐大的工件輸送裝置，結(jié)構緊湊，而且適應性很強。當工件變更時，柔性生產(chǎn)系統(tǒng)很容易改變，有利于企業(yè)不斷更新適銷對路的品種，提高產(chǎn)品質(zhì)量。更好地適應市場競爭的需要。而目前我國的工業(yè)機器人技術及其工程應用的水平和國外比還有一定的距離，應用規(guī)模和產(chǎn)業(yè)化水平低，機械手的研究和開發(fā)直接影響到我國自動化生產(chǎn)的水平提高，從經(jīng)&l