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1、TheDesignofHandColumnTypePowerMachine工业机械手的设计Seropekalpakjian,StevenR.SchmidAbstract摘要Machinehanddevelopedinrecentdecadesashigh-techautomatedproductionequipment.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。Industrialmachinehandisanimportantbranchofindustrialmachinehands.Itfeaturescanbe工业
2、机械手是工业机器人的一个重要分支。它的特点是可通过变成来programmedtasksinavarietyofexpectations,inbothstructureandperformanceadvantagesof完成各种预期的作业任务,在构造和性能上兼有人和机器theirownpeopleandmachines,inparticular,reflectsthepeople’sintelligenceandadaptability.各自的优点,尤其体现了人的智能和适应性。Theaccuracyofmachinehandopera
3、tionsandavarietyofenvironmentstheabilitytocomplete机械手作业的准确性和在各种坏境中完成作业的能力,theworkinthefieldofnationaleconomyandtherearebroadprospectsfordevelopment.Withthe在国民经济各领域有着广阔的发簪前景。developmentofindustrialautomation,therehasbeenCNCmarchingcenter,itisinreducinglabor随着工业自动化的发展,出现
4、了数控加工中心,他在减轻工intensity,whilegreatlyimproveslaborproductivity.However,theupperandlowercommonin人劳动强度的同时,大大提高了劳动生产率,但数控加工中CNCmarchingprocessesmaterial,usuallystillusemanualortraditionalrelay-controlled常见的上下料工序,通常仍采用人工操作或传统继电器控制的半semi-automaticdevice.Theformertime-consumin
5、gandlaborintensive,inefficient;thelatterdue自动化装置。前者费时费工,效率低,后者因设计复杂,todesigncomplexity,requiremorerelays,writingcomplexity,vulnerabilitytobodyvibration需要较多继电器,接线复杂,易受车体震动干扰,interference,whiletheexistenceofpoorreliability,faultmoremaintenanceproblemsandother而存在可靠性差,故障多,
6、维修困难等问题。issues.ProgrammableLogicControllerPLC-controlledmachinehandcontrolsystemformaterial可编程程序控制器PLC控制的上下料机械手控制系统动作简便、upanddownmovementissimple,circuitdesignisreasonable,whileastronganti-jamming线路设计合理、具有较强的抗干扰能力,capability,ensuringthesystem’sreliability,reducedmainte
7、nancerate,andimprovework保证了系统运行的可靠性,降低了维修率,提高了工作效率efficiency.Machinehandtechnologyrelatedtomechanics,mechanics,electricalhydraulic机械手技术涉及到力学、机械学、电气液压技术、technology,automaticcontroltechnology,sensortechnologyandcomputertechnologyandother自动控制技术、传感器技术和计算机技术等学科领域,fieldsofsc
8、ience,isacross-disciplinarytechnology.是一门跨学科综合技术1.Anoverviewofindustrialmanipulator1工业机械手的概述Machinehandisakindofposit