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編號
無錫太湖學院
畢業(yè)設計（論文）
相關資料
題目： 機械手模型設計及制作
信機 系 機械工程及自動化專業(yè)
學 號： 0923130
學生姓名： 陸 超
指導教師： 許文（職稱：副教授 ）
（職稱： ）
2013年5月25日
目 錄
一、畢業(yè)設計（論文）開題報告
二、畢業(yè)設計（論文）外文資料翻譯及原文
三、學生“畢業(yè)論文（論文）計劃、進度、檢查及落實表”
四、實習鑒定表
無錫太湖學院
畢業(yè)設計（論文）
開題報告
題目： 機械手模型設計及制作
信機 系 機械工程及自動化 專業(yè)
學 號： 0923130
學生姓名： 陸 超
指導教師： 許文 （職稱：副教授 ）
（職稱： ）
2012年11月 12日
課題來源
題目來源于產品教學制作。在工業(yè)上，機器人是用作運輸或操作從前屬于屬于人工作業(yè)的一種設備，越來越多的事務也可以在機器人的協(xié)助下完成。
科學依據
國外機器人領域發(fā)展近幾年有如下幾個趨勢:
(1)機器人性能不斷提高(高速度、高精度、高可靠性、便于操作和維修)，而單機價格不斷下降，平均單機價格從91年的10.3萬美元降至97年的65萬美元。
(2)機械結構向模塊化、可重構化發(fā)展。例如關節(jié)模塊中的伺服電機、減速機、檢測系統(tǒng)三位一體化:由關節(jié)模塊、連桿模塊用重組方式構造機器人整機;國外已有模塊化裝配機器人產品問市。
(3)機器人控制系統(tǒng)向基于PC機的開放型控制器方向發(fā)展，便于標準化、網絡化;器件集成度提高，控制柜日見小巧，且采用模塊化結構:大大提高了系統(tǒng)的可靠性、易操作性和可維修性。
(4)機器人中的傳感器作用日益重要，除采用傳統(tǒng)的位置、速度、加速度等傳感器外，裝配、焊接機器人還應用了視覺、力覺等傳感器，而遙控機器人則采用視覺、聲覺、力覺、觸覺等多傳感器的融合技術來進行環(huán)境建模及決策控制;多傳感器融合配置技術在產品化系統(tǒng)中已有成熟應用。
(5)虛擬現實技術在機器人中的作用已從仿真、預演發(fā)展到用于過程控制，如使遙控機器人操作者產生置身于遠端作業(yè)環(huán)境中的感覺來操縱機器人。
(6)當代遙控機器人系統(tǒng)的發(fā)展特點不是追求全自治系統(tǒng)，而是致力于操作者與機器人的人機交互控制，即遙控加局部自主系統(tǒng)構成完整的監(jiān)控遙控操作系統(tǒng)，使智能機器人走出實驗室進入實用化階段。美國發(fā)射到火星上的“索杰納”機器人就是這種系統(tǒng)成功應用的最著名實例。
研究內容
①收集相關設備資料，進行一種四自由度機械手模型的設計制作；
②它包括總體結構、機械傳動系統(tǒng)和伺服控制系統(tǒng)。該模型具有結構簡單、控制靈活、調整方便、性能穩(wěn)定等特點；
③完成機械手模型設計，繪制產品裝配圖，建議用A0標準圖幅；
④完成非標準零件設計圖紙。建議用A3標準圖幅；
⑤設計說明書一份；
⑥翻譯8000以上外文印刷字符或譯出4000漢字以上的有關技術資料或專業(yè)文獻。
擬采取的研究方法、技術路線、實驗方案及可行性分析
（1）實驗方案
充分分析作業(yè)對象(工件)的作業(yè)技術要求，擬定最合理的作業(yè)工序和工藝，并滿足系統(tǒng)功能要求和環(huán)境條件;明確工件的結構形狀和材料特性，定位精度要求，抓取、搬運時的受力特性、尺寸和質量參數等，從而進一步確定對機械手結構及運行控制的要求；盡量選用定型的標準組件，簡化設計制造過程，兼顧通用性和專用性，并能實現柔性轉換和編程控制。
（2）研究方法
① 在一定條件下，分析一個能快速、準確地拾放和搬運物件。
② 在同等環(huán)境下，對同一個物體做同樣的操作，在不同的傳動控制下，分析不同傳動系統(tǒng)的特點
研究計劃及預期成果
研究計劃：
2012年11月7日-2012年11月27日：按照任務書要求查閱論文相關參考資料，填寫畢業(yè)設計開題報告書。
2012年11月27日-2013年3月5日：填寫畢業(yè)實習報告。
2013年3月8日-2013年3月14日：按照要求修改畢業(yè)設計開題報告。
2013年3月15日-2013年3月21日：學習并翻譯一篇與畢業(yè)設計相關的英文材料。
2013年3月22日-2013年4月11日：機械手模型設計。
2013年4月12日-2013年4月25日：繪制機械手模型設計圖紙。
2013年4月26日-2013年5月25日：畢業(yè)論文撰寫和修改工作。
預期成果：
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設備，已經廣泛應用于國民經濟的各個領域，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。
特色或創(chuàng)新之處
① 選取的氣動機械手成本低廉，性能優(yōu)越，結構簡單，便于操作。
② 采用固定某些參量、改變某些參量來研究問題的方法，思路清晰，簡潔明了，行之有效。
已具備的條件和尚需解決的問題
① 設計方案思路已經非常明確，已經具備獨自完成設計
② 使用制圖軟件的能力尚需加強
指導教師意見
指導教師簽名：
年 月 日
教研室（學科組、研究所）意見
教研室主任簽名：
年 月 日
系意見
主管領導簽名：
年 月 日
英文原文
Robot hand model design and production
Scientific concept of development of engineering technology has opened up a broad road, while the robot 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 situation of social development, based on existing technology to design a teaching type robot science has far-reaching significance.
The subject of design for teaching handling robots, mainly consists 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, arm, 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 achieve arm and wrist rotation.Manipulator design simple, easy to operate, under the control of the MCU to complete the desired action, giving the students a visual impression, to achieve the purpose of teaching demonstration.
Keywords Manipulator Teaching type Four Degrees of Freedom SCM
1. An overview of industrial manipulator
Machine hand is a kind of positioning control which 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 Unites 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 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 attention.
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.
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 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? The answer is yes, but the machine hand 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 machine hand to be used in actual production.
Why would a machine hand designed to provide a pneumatic power: pneumatic machine hand refers to the compressed air as power source-driven machine hand. 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 flies 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 cannot be too large; in order to increase the output power is bound to the structure of the entire pneumatic system size increased.
2. The composition, mechanical hand
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, usually by the implementing agencies, transmission systems, control systems and auxiliary devices composed.
1. Implementing agencies
Manipulator executing agency by the hands, wrists, 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 components 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.
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 machine hand 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 machine hand controller, the micro-computer control..
3. Mechanical hand classification and characteristics
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 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 work piece 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 machine hand, assembly machine hand, handling machine hand, stacking machine hand, help machine hand, 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 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 achieved with the combination of mechanization and automation.
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, not afraid of danger, the power snatch weight characteristics when compared with manual large, therefore, mechanical hand has been applied widely, for example:
a) Machining the work piece loading and unloading, especially in the automatic lathe, combination machine tool use is more common.
b) 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.
c) The working conditions may be poor, monotonous, repetitive easy to sub-fatigue working environment to replace human labor.
d) May be in dangerous situations, such as military goods handling, dangerous goods and hazardous material removal and so on.
e) Universe and ocean development.
f) Military engineering and biomedical research and testing.
Help mechanical hand: all know 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 applications needs, creating customized cases.
Manual operation of a simulation of the automatic machinery, it can be a fixed program draws, handling objections 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 production, instead of people in hazardous environments manual operation, improving working conditions and ensure personal safely. The late 20th century,40, the United Stated atomic energy experiment, the first use of radioactive material handling machine hand, human machine hand in a safe room to 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. Machine hand body mainly by the hand and sport 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 indecently retractable, rotation and lifting movements, generally 2 to 3 degrees of freedom. Machine hands are widely used in metallurgical industry, machinery manufacture, light industry and atomic energy sectors.
It can replace human labor 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, 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 piece, 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 material used in the master-slave manipulator is also often referred to as mechanical hand.
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, weight, 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 change the location of objects by grasping and posture.
Machine hand 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 recently years, as electronic technology, especially computer extensive use of machine hand development and product 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 achieved with the combination of mechanization and automation. Machine hand can replace humans completed the risk of duplications 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 machine hand 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 machine hand 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 machine hand 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 meaningful.
中文譯文
機械手模型設計及制作
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設備，已經廣泛應用于國民經濟的各個領域，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。
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、機械手的機械結構設計以及驅動、控制系統(tǒng)設計等，實現了機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。設計中分析了教學型機械手的功能要求和現實意義，通過氣壓缸來實現手臂的升降和伸縮，采用回轉氣壓缸來實現手腕和手臂的回轉。設計的機械手結構簡單、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。
1工業(yè)機械手的概述
機械手是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。但現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)。
隨著我國工業(yè)生產的飛躍發(fā)展，特別是改革開放以后，自動化程度的迅速提高，實現工件的裝卸、轉向、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。
機械手是模仿著人手的部分動作，按給定的程序、軌跡和要求實現自動抓取、搬運或操作的自動機械裝置。
在現實生活中，你是否會發(fā)現這樣一個問題：在機械工廠里，加工零件裝料的時候是不是很麻煩的，勞動生產率不高，生產成本大，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。
生產中應用機械手可以提高生產的自動化水平和勞動生產率；可以減輕勞動強度、保證產品質量、實現安全生產；尤其是在高溫、高壓、低溫、低壓、粉塵、易爆、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實際當中。
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動的機械手。用氣壓驅動與其他能源驅動比較有以下有點：
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）
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。
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和制造精度要求可以降低。
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。
5.空氣介質清潔，亦不會變質，管路不易堵塞。
但是也有它美中不足的地方：
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。
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)的結構尺寸加大。
2機械手的組成
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。
1.執(zhí)行機構
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，也可以根據與要做成移動。
2.傳動系統(tǒng)
執(zhí)行機構的動作要由傳動系統(tǒng)來實現。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。
3.控制系統(tǒng)
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。
3機械手的分類和特點
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。