机械手翻译
Document number【AA80KGB-AA98YT-AAT8CB-2A6UT-A18GG】
Industrial Robots
1.Manipulator overview of Robots
It is the ancient robot in early appearance and developed on the basis of research into the middle of the twentieth century manipulator, along with the computer and automation technology
development, especially the first digital electronic computer in 1946, since the advent of computer made amazing progress, to high speed, high capacity, low price direction. Meanwhile, the urgent demand of mass production of promoting automation technology progress, and for the development of robots laid a foundation. On the other hand, nuclear technology research requires certain operating machine instead of people handle the radioactive substances. In this one requirement background, the United States is developed in 1947, in 1948 and remote control robot developed mechanical master-slave manipulator.
From the United States began developing manipulators first. In 1954 the United States first suggested the wear wal-mart, and the concept of industrial robot applied for patent. This patent point is using servo technology control of the robot joints, using an action on the robot hands, the robot can realize. Teaching movement
recording and playback. This is the so-called demonstration emersion robot. The existing robots are using this kind of control mode. 1958 united control company developed the first manipulator riveting robot. As the earliest practical model robot products (demonstration reappearance) is 1962 U.S. AMF company launched \
UNIMATION company launched \by similar man's hands and arms who composed it can replace the hard labor in order to achieve production mechanization and automation, can in harmful environment operation to protect the personal safety and thus widely used in mechanical manufacturing, metallurgy,
electronics, light industry and atomic energy and other departments.
Industrial robot CaoZuoJi (by mechanical body), controller, servo drive system and detection sensor, making it a humanoid operation, automatic control, can repeat programming, can finish all kinds of assignments in 3d space the electromechanical integration automation production equipment. Particularly suitable for many varieties, change of flexible production batch. It to help stabilize, improve product quality, raise efficiency in production, improve working conditions and product rapid renewal plays an extremely important role.
Robotic technology is integrated with computer, cybernetics,
organization learning, information and sensing technology, artificial intelligence, bionics science and the formation of high technology and new technology, is a very active, contemporary study applied more and more widely. Robot applications, is a national industrial automation level of important symbol.
Robot and not in the simple sense of labor, but replace
artificial comprehensive people skills and machine a personification of the specialty of electronic machinery, already someone on the environment condition of rapid reaction and the analysis judgment ability, and a machine could be longer duration of work, high precision and the ability of resistance to bad environment, in a sense it is also machine process of evolution product, it is an important industrial and the industry production and service, but also set the advanced manufacturing technology field indispensable automation equipment.
Manipulator is part of the action imitating the hands, according to the given program, track and demanding acquirement, handling or operation of the automatic mechanical device. In the industrial production of the application of industrial robots called \Application of manipulator can be used to increase production level of automation production and labor productivity: can reduce labor intensity, assure product quality, achieve safety production;
Especially in high temperature, high pressure, low temperature, low pressure and dust, explosive, toxic gases and radiation etc harsh environment, it instead of human normal work, meaning more
significant. Therefore, in the mechanical processing, stamping, casting, forging, welding, heat treatment, electroplating, paint, assembly and light industry, transportation etc widely quoted are increasingly.
The structure of the manipulator is simpler, specificity form began, strong for a machine tool's only feeder, and was attached to the machine's special manipulator. Along with the development of industrial technology, made by an independent program control realization repeated operation, suitable scope is wider \control general manipulator\change of general manipulator can quickly working procedures, good adaptability, so it continues to transform the medium and small batch production products gain extensive reference .
2.Composed of the manipulator 1)Actuators Hand
Namely parts in contact with objects. Due to the different forms of contact with objects, can be divided into clamping type and adsorption the hands. Gripping type hand fingers (or by PAWS) and power transmission institution constitutes. Fingers are in direct contact with the object of components, common finger movement forms have moved back to the transformation of peace. Back to the
transformation of simple structure, easy fingers, so application component manufacturing is widely applied translation type, its
reason is less complicated structure, but translations type circular parts, fingers clamping workpiece diameter variation do not affect its axis position, therefore appropriate clamping diameter variation range workpiece.
Finger structure by grasping object depends on surface shape, caught parts (the profile or within hole) and object weight and dimensions. Common refers to a flat, form the v-shaped finger and surface: the clip type and inside there supporting type; Index has double refers to type, by type and hands of double refers to type, etc.
But the force transmission institution is produced by clamping force fingers to accomplish the task. Put objects clips Power
transmission institutions are: the more commonly used type sliding channel, connecting lever lever type, bevel gear lever type, type, screw nut upper-and-lower, type spring type and gravity type, etc.
Enclosed type hand made mainly by chuck, it is to rely on
adsorption force (such as chuck formed in the negative pressure or an electric suction magnetic) adsorption objects, the corresponding
adsorption hand have negative pressure and electric disk two kinds of suckers.
For light small flake parts, smooth plate materials, usually with negative pressure chuch suck material. The way cause negative pressure air suction and vacuum pump type.
To guide magnetic ring type and the plate with a hole, and have such parts of sheet etc (meshes, usually use electro-magnetic chuck suck material. The suction electro magnetic chuch by dc magnets and production. Communication electromagnet.
With negative pressure chuch and electro magnetic chuch absorb charge, its shape, quantity, suckers absorbability size, according to adsorb object shape, size and weight size and decide.
In addition, according to special needs, the hand and spoon type (such as casting manipulator poured bag part), Joe type (such as cold gear machine up-down material manipulator hand) type.
Wrist
Hand and arm is connected components, and can be used to adjust the position by grasping object (i.e. posture).
Arm
The arm is supporting caught objects, hand, an important part of the wrist. The arm's role is to drive to grab objects, and fingers predetermined asks its handling to the location specified. Industrial manipulator arm often moving parts by driving arm (such as oil cylinder, cylinders, rack-and pinion institutions, link mechanism, screw mechanism and CAM mechanism, etc.) and drive source (such as hydraulic and pneumatic or motor, etc.), in order to realize the combined arms all kinds of sports.
The arm in telescopic or lifting movement, in order to prevent around its axis rotation, need a guide device, to ensure that the finger on the correct direction movement. In addition, orientation device can bear arms were bending moment and torsion moment when
turning or arm movement in start-up, brake generated at the moment of inertia, make the moving parts stress state is simple.
Orientation device structure form, commonly used are: single cylinder, double cylindrical, four cylinder and v-shaped chamfer, swallow tail trough etc oriented form.
Pillar
Pillar is supporting the arm parts, pillar also can be part of the arm and arm turn movement and lift (or pitch) movement are and pillar are closely linked. Manipulator to usually set for fixed, but need because of the job, sometimes also can make lateral movement, namely called will move a type bar.
Walk Institutions
When industrial robots need to complete a remote operation, or expanded use scope, the same seat installation roller, rail, etc, in order to realize the mobile mechanism of the machine movement. Industrial robots Roller type can be divided into the mobile
mechanism of sounds and two trolley. Drive roller motion should be additional mechanical transmission device.
Base
Seating is basic parts of manipulator, manipulator actuator components and the drive system are installed in on standby, so the role of the support and links.
2)Drive system
机械手翻译
