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存檔編碼：無(wú)無(wú)錫錫太太湖湖學(xué)學(xué)院院 2013 屆屆畢畢業(yè)業(yè)作作業(yè)業(yè)周周次次進(jìn)進(jìn)度度計(jì)計(jì)劃劃、檢檢查查落落實(shí)實(shí)表表 系別：信機(jī)系 班級(jí)：機(jī)械92 學(xué)生姓名：劉忠和 課題（設(shè)計(jì)）名稱：數(shù)控車床上下工件機(jī)械手 開始日期：2012年11月12日周次起止日期工作計(jì)劃、進(jìn)度每周主要完成內(nèi)容存在問(wèn)題、改進(jìn)方法指導(dǎo)教師意見(jiàn)并簽字備 注1-32012年11月12日-12月02日教師下達(dá)畢業(yè)設(shè)計(jì)任務(wù)，學(xué)生初步閱讀資料，完成畢業(yè)設(shè)計(jì)開題報(bào)告按照任務(wù)書要求查閱論文相關(guān)參考資料，填寫畢業(yè)設(shè)計(jì)開題報(bào)告書通過(guò)跟導(dǎo)師的交流和溝通，增加了對(duì)課題的了解4-102012年12月03日-01月20日指導(dǎo)專業(yè)實(shí)訓(xùn)網(wǎng)上搜索機(jī)械手的資料通過(guò)網(wǎng)上搜索來(lái)了解機(jī)械手的結(jié)構(gòu)11-122013年01月21日-03月01日指導(dǎo)畢業(yè)實(shí)習(xí)熟悉現(xiàn)有機(jī)械手的具體結(jié)構(gòu)，為畢業(yè)設(shè)計(jì)做好前期工作需要反復(fù)查閱資料，工作量大，可以克服132013年03月04日-03月10日熟悉機(jī)械手的結(jié)構(gòu)及設(shè)計(jì)參數(shù)根據(jù)現(xiàn)有資料，熟悉整個(gè)機(jī)械手的結(jié)構(gòu)及設(shè)計(jì)參數(shù)，為下面的工作做充分準(zhǔn)備支架的結(jié)構(gòu)復(fù)雜，設(shè)計(jì)參數(shù)多，需要耐心研究142013年03月11日-03月17日收集氣動(dòng)相關(guān)資料根據(jù)氣動(dòng)裝需要，確定氣缸類型查閱氣缸資料，研究其特性152013年03月18日-03月24日繪制草圖根據(jù)所夾工件的結(jié)構(gòu)特點(diǎn)和相關(guān)參數(shù)，完成相貫線切割機(jī)總體結(jié)構(gòu)的設(shè)計(jì)草圖繪制草圖時(shí)要綜合考慮多方面因素162013年03月25日-03月31日繪制草圖根據(jù)所夾工件的結(jié)構(gòu)特點(diǎn)和相關(guān)參數(shù)，完成相貫線切割機(jī)總體結(jié)構(gòu)的設(shè)計(jì)草圖繪制草圖時(shí)要綜合考慮多方面因素172013年04月01日-04月07日具體設(shè)計(jì)根據(jù)設(shè)計(jì)參數(shù)要求，完成相關(guān)計(jì)算（主要包括氣缸的選型和校驗(yàn)、電機(jī)的選型和齒輪的計(jì)算等等）這一階段需要計(jì)算的量較大，工作繁重；具體選型方面，需查閱各方面資料，任務(wù)重182013年04月08日-04月14日具體設(shè)計(jì)根據(jù)設(shè)計(jì)參數(shù)要求，完成相關(guān)計(jì)算（主要包括氣缸的選型和校驗(yàn)、電機(jī)的選型和齒輪的計(jì)算等等）這一階段需要計(jì)算的量較大，工作繁重；具體選型方面，需查閱各方面資料，任務(wù)重192013年04月15日-04月21日裝配圖的繪制繼續(xù)上一階段工作，并根據(jù)計(jì)算結(jié)果確定機(jī)械手的結(jié)構(gòu)尺寸，完成部分總裝圖這一段時(shí)期的任務(wù)比較煩重，是整個(gè)設(shè)計(jì)的重中之重，需要格外細(xì)心202013年04月22日-4月28日裝配圖的繪制繼續(xù)上一階段工作，并根據(jù)計(jì)算結(jié)果確定機(jī)械手的結(jié)構(gòu)尺寸，完成部分總裝圖這一段時(shí)期的任務(wù)比較煩重，是整個(gè)設(shè)計(jì)的重中之重，需要格外細(xì)心212013年04月29日-05月05日零件圖的繪制完成裝配圖和重要零部件的部件圖或零件圖繪制總裝圖及零件圖，需要有足夠的耐心222013年05月06日-05月12日零件圖的繪制完成裝配圖和重要零部件的部件圖或零件圖繪制總裝圖及零件圖，需要有足夠的耐心232013年05月13日-05月19日整理說(shuō)明書整理設(shè)計(jì)說(shuō)明書反復(fù)檢查以前工作中的紕漏，并做修改242013年05月20日-05月25日整理資料，準(zhǔn)備答辯整理相關(guān)資料，完成設(shè)計(jì)說(shuō)明書，準(zhǔn)備答辯針對(duì)答辯充分準(zhǔn)備 說(shuō)明：1、“工作計(jì)劃、進(jìn)度”、“指導(dǎo)教師意見(jiàn)并簽字”由指導(dǎo)教師填寫，“每周主要完成內(nèi)容”，“存在問(wèn)題、改進(jìn)方法”由學(xué)生填寫。2、本表由各系妥善歸檔，保存?zhèn)洳?。周次起止日期工作?jì)劃、進(jìn)度每周主要完成內(nèi)容存在問(wèn)題、改進(jìn)方法指導(dǎo)教師意見(jiàn)并簽字備 注英文原文
Manipulator
Robot developed in recent decades as high-tech automated production equipment. Industrial robot is an important branch of industrial robots. It features can be programmed to perform tasks in a variety of expectations, in both structure and performance advantages of their own people and machines, in particular, reflects the people's intelligence and adaptability. The accuracy of robot 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 machining center, it is in reducing labor intensity, while greatly improved labor productivity. However, the upper and lower common in CNC machining 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, wiring complexity, vulnerability to body vibration interference, while the existence of poor reliability, fault more maintenance problems and other issues. Programmable Logic Controller PLC-controlled robot control system for materials up and down movement is simple, circuit design is reasonable, with a strong anti-jamming capability, ensuring the system's reliability, reduced maintenance rate, and improve work efficiency. Robot 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 integrated technology.
First, an overview of industrial manipulator
Robot is a kind of positioning control 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 United 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, local 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 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 workpiece 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.
Robot 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 injured. 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 robot 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 robot to be used in actual production.
Why would a robot designed to provide a pneumatic power: pneumatic robot refers to the compressed air as power source-driven robot. 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 fly 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 can not be too large; in order to increase the output power is bound to the structure of the entire pneumatic system size increased.
With pneumatic drive and compare with other energy sources drive has the following advantages:
Air inexhaustible, used later discharged into the atmosphere, without recycling and disposal, do not pollute the environment. Accidental or a small amount of leakage would not be a serious impact on production.
Viscosity of air is small, the pipeline pressure loss also is very small, easy long-distance transport.
The lower working pressure of compressed air, pneumatic components and therefore the material and manufacturing accuracy requirements can be lowered. In general, reciprocating thrust in 1 to 2 tons pneumatic economy is better.
Compared with the hydraulic transmission, and its faster action and reaction, which is one of the outstanding merits of pneumatic.
Clean air medium, it will not degenerate, not easy to plug the pipeline.
It can be safely used in flammable, explosive and the dust big occasions. Also easy to realize automatic overload protection.
Second, the composition, mechanical hand
Robot 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 agencies
Manipulator executing agency by the hands, wrists, arms, pillars. Hands are crawling institutions, is used to clamp and release the workpiece, 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 can not wrist. Pillars used to support the arm can also be made mobile as needed.
2. Transmission
The 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 forms.
3. Control System
Manipulator control system's main role is to control the robot 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 robot controller, the micro-computer control.
Three, mechanical hand classification and characteristics
Robots 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 workpiece material 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 features:
First, mechanical hand (the upper and lower material robot, assembly robot, handling robot, stacking robot, help robot, 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 hand
Manipulator 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 robot development and production of high-tech fields has become a rapidly developed a new technology, which further promoted the development of robot, allowing robot to better achieved with the combination of mechanization and automation.
Although the robot 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 of great importance to many sectors, and increasingly has been applied widely, for example:
(1) Machining the workpiece loading and unloading, especially in the automatic lathe, combination machine tool use is more common.
(2) In the assembly operations are widely used 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.
(3) The working conditions may be poor, monotonous, repetitive easy to sub-fatigue working environment to replace human labor.
(4) May be in dangerous situations, such as military goods handling, dangerous goods and hazardous materials removal and so on.
(5) Universe and ocean development.
(6) Military engineering and biomedical research and testing.
?Help mechanical hands: also known 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 application needs, creating customized cases.
Manual operation of a simulation of the automatic machinery, it can be a fixed program draws ﹑ handling objects or perform household tools to accomplish certain specific actions. Application of robot 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 safety. The late 20th century, 40, the United States atomic energy experiments, the first use of radioactive material handling robot, human robot in a safe room to manipulate various operations and experimentation. 50 years later, 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, or From the library take place knife knife and so on according to fixed procedures for the replacement operation. Robot body mainly by the hand and sports 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 independently retractable ﹑ rotation and lifting movements, generally 2 to 3 degrees of freedom. Robots are widely used in metallurgical industry, machinery manufacture, light industry and atomic energy sectors.
Can mimic some of the staff and arm motor function, a fixed procedure for the capture, handling objects or operating tools, automatic operation device. It can replace human labor in order to achieve the production of heavy mechanization and automation that can operate in hazardous environments 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 workpiece, 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 materials used in the master-slave manipulator is also often referred to as mechanical hand.
Manipulator mainly by hand and sports institutions. Task of hand is holding the workpiece (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-based care such as holding. Sports organizations, so that the completion 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.
Robot 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 recent years, as electronic technology, especially computer extensive use of robot development and production of high-tech fields has become a rapidly developed a new technology, which further promoted the development of robot, allowing robot to better achieved with the combination of mechanization and automation. Robot can replace humans completed the risk of duplication 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 robot 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 robot 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 robot 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 very meaningful.
The development of the numerical control technology
Numerical control technology is the technology controlled to mechanical movement and working course with digital information, integrated products of electromechanics that the numerical control equipment is the new technology represented by numerical control technology forms to the manufacture industry of the tradition and infiltration of the new developing manufacturing industry, namely the so-called digitization is equipped, its technological range covers a lot of fields: (1)Mechanical manufacturing technology; (2)Information processing, processing, transmission technology; (3)Automatic control technology; (4)Servo drive technology; (5)Technology of the sensor; (6)Software engineering ,etc.
1.Development trend of a numerical control technology
The application of numerical control technology has not only brought the revolutionary change to manufacturing industry of the tradition, make the manufacturing industry become the industrialized symbol , and with the constant development of numerical control technology and enlargement of the application, the development of some important trades (IT , automobile , light industry , medical treatment ,etc. ) to the national economy and the people's livelihood of his plays a more and more important role, because the digitization that these trades needed to equip has already been the main trend of modern development.Numerical control technology in the world at present and equipping the development trend to see, there is the following several respect [1- 4] in its main research focus.
1.1A high-speed, high finish machining technology and new trend equipped
The efficiency, quality are subjavanufacturing technology. High-speed, high finish machining technology can raise the efficiency greatly , improve the quality and grade of the products, shorten production cycle and improve the market competitive power. Japan carries the technological research association first to classify it as one of the 5 great modern manufacturing technologies for this, learn (CIRP) to confirm it as the centre in the 21st century and study one of the directions in international production engineering.
In the field of car industry, produce one second when beat such as production of 300,000 / vehicle per year, and many variety process it is car that equip key problem that must be solved one of; In the fields of aviation and aerospace industry, spare parts of its processing are mostly the thin wall and thin muscle, rigidity is very bad, the material is aluminium or aluminium alloy, only in a situation that cut the speed and cut strength very small high, could process these muscles, walls. Adopt large-scale whole aluminium alloy method that blank " pay empty " make the wing recently, such large-scale parts as the fuselage ,etc. come to substitute a lot of parts to assemble through numerous rivet , screw and other connection way, make the intensity , rigidity and dependability of the component improved. All these, to processing and equipping the demand which has proposed high-speed, high precise and high flexibility.
According to EMO2001 exhibition situation, high-speed machining center is it give speed can reach 80m/min is even high , air transport competent speed can up to 100m/min to be about to enter. A lot of a