工业机械手毕业设计外文资料翻译Word文档下载推荐.docx
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工业机械手毕业设计外文资料翻译Word文档下载推荐.docx
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sstrengthsandexpertiseofananthropomorphicmachineelectronicmechanicaldevice,bothoftheenvironmentalstateofthefastresponseandtheabilitytoanalyzeandjudge,andthemachinecanworkcontinuouslyforlongtime,highprecision,anti-poorenvironment,insomesenseitistheevolutionofmachinestheproduct,itistheindustrialandtheindustryisanimportantproductionandserviceequipment,advancedmanufacturingtechnologyisindispensableinthefieldofautomationequipmentmechanicalhandisinimitationofhandaction,accordingtotheprocedures,andrequirementsforautomatictrajectorycapture,handlingandoperationofautomaticmachinerydevice.Inindustrialproductionintheapplicationofmechanicalhandisknownas"
industrialmanipulator"
.Applicationofmechanicalhandcanimprovetheautomationlevelofproductionandlaborproductivity:
thelaborintensitycanbereduced,toensureproductquality,andrealizethesafetyinproduction;
especiallyinhightemperatureandhighpressure,lowtemperature,lowpressure,dust,explosive,toxicandradioactivegasesandotherharshenvironments,itinsteadofnormalwork,moresignificant.Therefore,inthemachining,stamping,casting,forging,welding,heattreatment,plating,painting,assemblyandlightindustry,transportationindustryarewidelyquoted.Manipulatorstructurebegantorelativelysimple,specialstrong,onlyforamachinetoolfeedingdeviceupanddown,isaffiliatedinthemachinemanipulator.Withthedevelopmentofindustrialtechnology,madeindependentlybytheprogramcontrolrepetitiveoperation,widelyappliedranges"
programcontrolmanipulator"
referredtoastheuniversalmechanicalhand.Sincetheuniversalmechanicalhandcanquicklychangetheworkingprocedures,strongadaptability,soitisinchangingtheproductionofvarietiesofsmallbatchproductionandwidelycited.
1.2.Themanipulator'
scompositionandclassification
1.2.1.manipulator'
scomposition
Manipulatorismainbyactuatingmechanism,drivingsystem,controlsystemandpositiondetectiondevice.
(A)actuator
Includingthehand,wrist,armandthecolumncomponents,someadditionalwalkingmechanism.
In1,hand:
Partsincontactwithobjects.Aswithobjectcontactindifferentforms,canbedividedintoaclampingtypeandabsorptiontypehandinthistopicweuseclampingtypestructureofhand.Clampingtypehandbyafinger(orgripper)andaforcetransmissionmechanism.Thefingersareindirectcontactwiththeobjectcomponent,commonfingermovementintheformofrotaryandtranslationaltype.Rotaryfingerhastheadvantagesofsimplestructure,easymanufacture,theapplicationofbroad.Translationalapplicationless,thereasonisthatthestructureismorecomplex,butthetranslationtypefingergrippingcircularparts,thediameteroftheworkpiecechangesdonotaffectitsaxialposition,soitissuitableforclampingtheworkpiecediameterrange.Thefingerstructuredependsonbegrasptheobjectsurfaceshape,washoldingpart(isoutlineorhole)andtheweightoftheobjectanddimension.Commonfingerhasaplanar,Vshapeandsurface:
fingerhastheouterclampingtypeandinnerbracing;
indexhasapairoffingertypereferstothenumberofhands,andtwofingertype.Andtheforcetransmissionmechanismthroughthefingertoproduceaclampingforcetocompletetheclampedobjecttask.Theforcetransmissionmechanismtypesmorecommonlyusedare:
slidinglever,linklevertype,inclinedlever,gearrack,screwnutspringandgravity.
In2,thewrist:
Isconnectedtothehandandarmparts,andcanbeusedtoadjustthegrasptheobjectorientation(i.e.postures)
In3,thearm:
Thearmissupportedbygraspingtheobject,thehand,thewrististhemostimportantpartof.Thearmistheroleofdrivesthefingertograsptheobject,andaccordingtoapredeterminedrequirementwillbetransportedtothedesignatedlocation.Theindustrymanipulatorarmusuallyconsistsofdrivingarmmovingparts(suchascylinder,cylinder,agearrackmechanism,aconnectingrodmechanism,ascrewmechanismandacammechanism)andadrivesource(suchashydraulic,pneumaticorelectricmotoretc)match,inordertoachievearmmovements.
In4,thecolumn:
Thecolumnissupportingarmcomponent,columncanalsobeanarmportion,therotaryarmmotionandliftingmotion(orpitch)andcolumnarecloselylinked.MechanicalhandmadeIneedbecauseofthejob,sometimesalsocanmakelateralmovement,knownasamovablecolumn.
In5,runningmechanism:
Whentheindustrialmachineryhandisneededtocompletethemoreremoteoperation,orexpandthescopeofuse,canbeinasafewheelwalkingmechanismatwheel,trackwalkingmechanism,inordertorealizetheindustrialmanipulatorofthemachinemovement.Rollertypeclothforrailandtrolleytwo.Driverollersportsshouldbeaddingothermechanicaltransmissiondevice.
In6,thebase:
Amanipulatoristhebasicpart,mechanicalhandactuatorcomponentsandthedrivesystemismountedonthebase,thesupportingandconnectingtherole.
(B)drivesystem
Thedrivesystemisdrivingtheindustrymanipulatoractuatormovementpowerdeviceadjustingdeviceandanauxiliarydevice.Commondrivewithhydraulicdrive,pneumaticdrive,mechanicaldrive.Thecontrolsystemistodominatetheindustrymanipulatoraccordingtotherequirementsofthesystemmovement.Theindustrymanipulatorcontrolsystemingeneralbytheprogramcontrolsystemandelectricalpositioning(ormechanicalblockpositioningsystem.).Controlsystemwithelectriccontrolandflowcontrolintwo,itdominatesthemanipulatoraccordingtotheprescribedproceduresmovement,
Andmemorythepeoplegivemanipulatorinstructioninformation(suchassequenceofmovement,motiontrack,velocityandtime),atthesametimeaccordingtothecontrolsystemoftheinformationontheactuatorcommand,ifnecessary,onthemotionofthemanipulatorforsurveillance,whenanactionhasanerrororfailureoccurswhenanalarmsignalissentout.
(C)controlsystem
Thecontrolsystemistodominatetheindustrymanipulatoraccordingtotherequirementsofthesystemmovement.Theindustrymanipulatorcontrolsystemingeneralbytheprogramcontrolsystemandelectricalpositioning(ormechanicalblockpositioningsystem.).Controlsystemwithelectriccontrolandflowcontrolintwo,itdominatesthemanipulatoraccordingtotheprescribedprocedures,andmemorypeoplegivemanipulatorinstructioninformation(suchassequenceofmovement,motiontrack,velocityandtime),atthesametimeaccordingtothecontrolsystemoftheinformationontheactuatorcommand,ifnecessary,tomechanicalhandactionmonitoring,whenanactionhasanerrororfailureoccurswhenanalarmsignalissentout.
1.2.2manipulatorclassification.
Theindustrymanipulatorofmanykinds,abouttheclassificationproblems,iscurrentlyathomeisnotaunifiedclassificationcriteria,thentemporarily,bytheuseofdriveandcontrolsystemofclassification.
(A)byusage
Mechanicalhandcanbedividedintospecialmanipulatorandthemanipulatortwo:
In1,aspecialmechanicalhand
Itisattachedtothehost,withfixedprocedureswithoutindependentcontrolsystemformechanicaldevice.Manipulatorwithlittleaction,singleworkingobject,hastheadvantagesofsimplestructure,reliableuseandlowcost,suitableformassproductionoftheautomatictoolchangingmanipulator,suchasautomaticmachine,automaticline,feedingmanipulatorandmachiningcenter.
In2,generalmanipulator
Itisakindofindependentcontrolsystem,processvariable,flexiblemanipulator.Intheperformancerange,theactionprogramisvariable,theadjustmentcanbeusedondifferentoccasions,drivingsystemandcontrolsystemareindependent.Universalmanipulatoroflargeworkingrange,highprecision,strongversatility,issuitableforchangingtheproductionvarietiesofsmallbatchproductionautomation.Universalmanipulatoraccordingtothecontrolpositionindifferentwayscanbedividedintosimpleandservotypetwo:
simpletypeto"
on-off"
typecontrolpositioning,canonlybeapoint-to-pointcontrol,servotypecanbeabit,butalsocanrealizethecontinuouscontrol,servotypehasaservosystempositioncontrolsystem,generalservomanipulatorbelongstothenumericalcontroltype.
(B)bythedrivingmode
1,hydraulicmanipulator
Bythehydraulicpressuretodrivetheactuatormotionofmanipulator.Itsmainfeaturesare:
catchuptohundredsofkilograms,smoothtransmission,compactstructure,flexibleaction.Butforthesealingdeviceofstrict,
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