數(shù)控銑床X-Y工作臺(tái)的結(jié)構(gòu)設(shè)計(jì)
數(shù)控銑床X-Y工作臺(tái)的結(jié)構(gòu)設(shè)計(jì),數(shù)控,銑床,工作臺(tái),結(jié)構(gòu)設(shè)計(jì)
數(shù)控銑床X-Y工作臺(tái)的結(jié)構(gòu)設(shè)計(jì)
X-Y數(shù)控工作臺(tái)機(jī)電系統(tǒng)設(shè)計(jì)是一個(gè)開環(huán)控制系統(tǒng)，其結(jié)構(gòu)簡(jiǎn)單。實(shí)現(xiàn)方便而且能夠保證一定的精度。降低成本，是微機(jī)控制技術(shù)的最簡(jiǎn)單的應(yīng)用。它充分的利用了危機(jī)的軟件硬件功能以實(shí)現(xiàn)對(duì)機(jī)床的控制;使機(jī)床的加工范圍擴(kuò)大，精度和可靠性進(jìn)一步得到提高。X-Y數(shù)控工作臺(tái)機(jī)電系統(tǒng)設(shè)計(jì)是利用8031單片機(jī)，及2764,?6264存儲(chǔ)器及8155芯片等硬件組成，在控制系統(tǒng)的硬件上編寫一定的程序以實(shí)現(xiàn)一定的加工功能。
? 其基本思想是通過圓弧或者直線插補(bǔ)程序以實(shí)現(xiàn)對(duì)零件進(jìn)行幾何加工，每進(jìn)行一段加工都要產(chǎn)生一定的脈沖以驅(qū)動(dòng)電機(jī)正反轉(zhuǎn)，同時(shí)通8155將相應(yīng)的加工進(jìn)刀信息送至刀架庫(kù)中以實(shí)現(xiàn)以之相應(yīng)的走刀，電機(jī)和刀具的相對(duì)運(yùn)動(dòng)所以實(shí)現(xiàn)了刀具對(duì)工件的加工。該控制系統(tǒng)采用軟件中斷控制系統(tǒng)結(jié)構(gòu)及子程序結(jié)構(gòu)簡(jiǎn)單，條件明確在經(jīng)濟(jì)型數(shù)控中應(yīng)用較多。中斷結(jié)構(gòu)采用模塊化結(jié)構(gòu)設(shè)計(jì)因?yàn)檫@種結(jié)構(gòu)便于修改和擴(kuò)充，編制較為方便，便于向多處理方向發(fā)展。X-Y
數(shù)控工作臺(tái)機(jī)電系統(tǒng)設(shè)計(jì)采用步進(jìn)電機(jī)作為驅(qū)動(dòng)裝置。步進(jìn)電機(jī)是一個(gè)將脈沖信號(hào)轉(zhuǎn)移成角位移的機(jī)電式數(shù)模轉(zhuǎn)換器裝置。其工作原理是每給一個(gè)脈沖便在定子電路中產(chǎn)生一定的空間旋轉(zhuǎn)磁場(chǎng);由于步進(jìn)電機(jī)通的是三相交流電所以輸入的脈沖數(shù)目及時(shí)間間隔不同，轉(zhuǎn)子的旋轉(zhuǎn)快慢及旋轉(zhuǎn)時(shí)間的長(zhǎng)短也是不同的。由于旋轉(zhuǎn)磁場(chǎng)對(duì)放入其中的通電導(dǎo)體既轉(zhuǎn)子切割磁力線時(shí)具有力的作用，從實(shí)現(xiàn)了旋轉(zhuǎn)磁場(chǎng)的轉(zhuǎn)動(dòng)迫使轉(zhuǎn)子作相應(yīng)的轉(zhuǎn)動(dòng)，所以轉(zhuǎn)子才可以實(shí)現(xiàn)轉(zhuǎn)子帶動(dòng)絲杠作相應(yīng)的運(yùn)動(dòng)。本題目是步進(jìn)電機(jī)，微型計(jì)算機(jī)，插補(bǔ)原理，匯編語(yǔ)言的綜合應(yīng)用。
?當(dāng)今世界電子技術(shù)迅速發(fā)展，微處理器、微型計(jì)算機(jī)在各技術(shù)領(lǐng)域得到了廣泛應(yīng)用，對(duì)各領(lǐng)域技術(shù)的發(fā)展起到了極大的推動(dòng)作用。一個(gè)較完善的機(jī)電一體化系統(tǒng)，應(yīng)包含以下幾個(gè)基本要素：機(jī)械本體、動(dòng)力與驅(qū)動(dòng)部分、執(zhí)行機(jī)構(gòu)、傳感測(cè)試部分、控制及信息處理部分。機(jī)電一體化是系統(tǒng)技術(shù)、計(jì)算機(jī)與信息處理技術(shù)、自動(dòng)控制技術(shù)、檢測(cè)傳感技術(shù)、伺服傳動(dòng)技術(shù)和機(jī)械技術(shù)等多學(xué)科技術(shù)領(lǐng)域綜合交叉的技術(shù)密集型系統(tǒng)工程。新一代的CNC系統(tǒng)這類典型機(jī)電一體化產(chǎn)品正朝著高性能、智能化、系統(tǒng)化以及輕量、微型化方向發(fā)展。 工作臺(tái)作為數(shù)控機(jī)床的重要組成部分，也是影響加工精度的重要組成環(huán)節(jié)。從一開始為了滿足加工簡(jiǎn)單的零件而設(shè)計(jì)的直線運(yùn)動(dòng)的X—Y工作臺(tái)，到現(xiàn)在為了實(shí)現(xiàn)多工位加工而制造的分度工作臺(tái)和回轉(zhuǎn)工作臺(tái)等。為了滿足現(xiàn)代制造業(yè)的發(fā)展，也為了環(huán)境的要求，一作臺(tái)的驅(qū)動(dòng)裝置從原來的機(jī)械驅(qū)動(dòng)變?yōu)橐郝抿?qū)動(dòng)，現(xiàn)在更多的采用了氣動(dòng)裝置，更好的保護(hù)了環(huán)境，節(jié)約了資源。由于工作臺(tái)是一臺(tái)機(jī)床的關(guān)鍵配套部件，因此世界各國(guó)都有對(duì)其進(jìn)行研究，我國(guó)在工作臺(tái)的研究開發(fā)方面也取得了長(zhǎng)足的進(jìn)步。目前工作臺(tái)的種類繁多，傳統(tǒng)的工作臺(tái)只能安裝在某一指定機(jī)床上，伴隨著科技的與時(shí)俱進(jìn)，它們的功能也由傳統(tǒng)單一性向現(xiàn)代的功能性方向發(fā)展，現(xiàn)在一些工作臺(tái)，它不僅可以安裝在鉆床上，還可以安裝在銑床和鏜床等機(jī)床上。并且目前部分工作臺(tái)還可以作為機(jī)床的第四回轉(zhuǎn)軸，大大提高了機(jī)床的性能。例如：可傾回轉(zhuǎn)工作臺(tái)，它可以實(shí)現(xiàn)用于數(shù)控機(jī)床和加工中心機(jī)床上，可利用原機(jī)床的兩個(gè)控制坐標(biāo)控制轉(zhuǎn)臺(tái)的回轉(zhuǎn)和傾斜，也可直接利用本轉(zhuǎn)臺(tái)配套的數(shù)控裝置與機(jī)床聯(lián)接完成所需的工作循環(huán)。它可以完成任意角度的孔、槽、平面類機(jī)械加工，以及曲線、凸輪等的加工，并可達(dá)到較高的精度另外也可用于非數(shù)控鉆、銑鏜類機(jī)床上，獨(dú)立完成等分和不等分的角
度分度工作。國(guó)外工作臺(tái)的功能與我國(guó)所生產(chǎn)的工作臺(tái)功能基本相似，但是在其精度方面，
國(guó)外的一些公司所生產(chǎn)的工作臺(tái)要略高于我國(guó)所生產(chǎn)的工作臺(tái)。
因此我國(guó)與國(guó)外相比，還是有一定的差距，因此工作臺(tái)的設(shè)計(jì)具有重要意義，我們要借助時(shí)代的步伐，與時(shí)俱進(jìn)，開拓創(chuàng)新，使我國(guó)成為具有領(lǐng)先技術(shù)的綜合性強(qiáng)國(guó)。本設(shè)計(jì)所設(shè)計(jì)的X-Y工作臺(tái)采用了低摩擦的直線滾動(dòng)導(dǎo)軌和精密的絲杠，它的工作原理是通過MCS-51單片機(jī)來控制步進(jìn)電機(jī)，使X-Y工作臺(tái)實(shí)現(xiàn)了數(shù)控控制。工作臺(tái)的自動(dòng)化能大大減輕勞動(dòng)強(qiáng)度，提高勞動(dòng)生產(chǎn)效率。本設(shè)計(jì)的X-Y數(shù)控工作臺(tái)機(jī)電系統(tǒng)設(shè)計(jì)是一個(gè)開環(huán)控制系統(tǒng)，其結(jié)構(gòu)簡(jiǎn)單，實(shí)現(xiàn)方便而且能保證一定的精度。通過微機(jī)控制技術(shù)的簡(jiǎn)單的應(yīng)用，實(shí)現(xiàn)對(duì)機(jī)床的控制，使機(jī)床的加工范圍擴(kuò)大，精度和可靠性進(jìn)一步提高。本設(shè)計(jì)所設(shè)計(jì)的X-Y工作臺(tái)不僅可用于銑床上進(jìn)行數(shù)控銑削加工，而且還能夠用于鉆床上數(shù)控鉆削加工，所以其功能遠(yuǎn)高于傳統(tǒng)的普通工作臺(tái)是新一代機(jī)電一體化的典型產(chǎn)品。通過對(duì)X-Y工作臺(tái)的設(shè)計(jì)，能夠正確運(yùn)用機(jī)床數(shù)控系統(tǒng)等課程的基本理論個(gè)有關(guān)知識(shí)學(xué)會(huì)設(shè)備數(shù)控化改造方案的擬定、比較、分析及進(jìn)行必要的計(jì)算；通過對(duì)設(shè)備改造的機(jī)械部分設(shè)計(jì)，掌握數(shù)控設(shè)備典型零件的計(jì)算方法和步驟以及正確的結(jié)構(gòu)設(shè)計(jì)方法；通過設(shè)備的數(shù)控系統(tǒng)硬件和軟件設(shè)計(jì)，掌握簡(jiǎn)單的數(shù)控系統(tǒng)硬件及軟件設(shè)計(jì)的基本方法；通過課程設(shè)計(jì)，初步樹立正確的設(shè)計(jì)思想，培養(yǎng)自己分析問題和解決問題的能力；提高自己應(yīng)用手冊(cè)、標(biāo)準(zhǔn)以及編寫文件等資料的能力。
?在本設(shè)計(jì)中著重介紹了如何對(duì)X-Y工作臺(tái)進(jìn)行設(shè)計(jì)，對(duì)導(dǎo)軌、絲杠、電機(jī)、選用和數(shù)控控制電路的設(shè)計(jì)和其控制程序的編制等方面進(jìn)行了深入的分析。
數(shù)控技術(shù)的發(fā)展歷程 ：數(shù)控銑床品種繁多，規(guī)格不一，可按通用銑床的分類方法分為以下3類：
數(shù)控立式銑床：數(shù)控立式銑床主軸軸線垂直于水平面，這種銑床占數(shù)控銑床的大多數(shù)，應(yīng)用范圍也最廣。目前三坐標(biāo)數(shù)控立式銑床占數(shù)控銑床的大多數(shù)，一般可進(jìn)行三軸聯(lián)動(dòng)加工。
臥式數(shù)控銑床：臥式數(shù)控銑床的主軸軸線平行于水平面。
為了擴(kuò)大加工范圍和擴(kuò)充功能，臥式數(shù)控銑床通常采用增加數(shù)控轉(zhuǎn)臺(tái)或萬(wàn)能數(shù)控轉(zhuǎn)臺(tái)的方式來實(shí)現(xiàn)四軸和五軸聯(lián)動(dòng)加工。這樣既可以加工工件側(cè)面的連續(xù)回轉(zhuǎn)輪廓，又可以實(shí)現(xiàn)在一次裝夾中通過轉(zhuǎn)臺(tái)改變零件的加工位置也就是通常所說的工位，進(jìn)行多個(gè)位置或工作面的加工。
立臥兩用轉(zhuǎn)換銑床：這類銑床的主軸可以進(jìn)行轉(zhuǎn)換，可在同一臺(tái)數(shù)控銑床上進(jìn)行立式加工和臥式加工，同時(shí)具備立、臥式銑床的功能。 銑床是用銑刀進(jìn)行切削加的機(jī)床,銑床的加工情況如圖1-1所示。在銑床上，用不同銑刀可以對(duì)平面、斜面、溝槽、臺(tái)階、T形槽、燕尾槽等表面進(jìn)行加工，另外配上分度頭或回轉(zhuǎn)臺(tái)還可以加工齒輪、螺旋面、花鍵軸、凸輪等各種成型表面。故銑床的萬(wàn)能性強(qiáng)，應(yīng)用范圍很廣。銑床的主參數(shù)是工作臺(tái)面寬度及長(zhǎng)度。圖1-1 銑床上的典型工作銑床的工藝特點(diǎn)如下：
(1)銑床的主軸帶動(dòng)銑刀作旋轉(zhuǎn)主運(yùn)動(dòng)；
(2)銑刀是多齒、多刃連續(xù)進(jìn)行切削；
(3)多數(shù)銑床由工作臺(tái)帶動(dòng)工件作直線進(jìn)給運(yùn)動(dòng)；
(4)銑刀在切削時(shí)，每個(gè)刀齒的切削過程是斷續(xù)的，同時(shí)參加切削的齒數(shù)是變化的，每個(gè)刀齒的切削厚度也是變化的，因此容易引起機(jī)床振動(dòng)；
(5)銑削時(shí)，銑刀同時(shí)參加切削的齒數(shù)較多，便于采用較大的銑削速度和進(jìn)給給量，因而生產(chǎn)效率高。我國(guó)的數(shù)控系統(tǒng)正處在由研究開發(fā)階段向推廣應(yīng)用階段過渡的關(guān)鍵時(shí)期。也是由封閉型系統(tǒng)向開放型系統(tǒng)過渡的時(shí)期。我國(guó)數(shù)控系統(tǒng)在技術(shù)上已趨于成熟，在重大關(guān)鍵技術(shù)上（包括核心技術(shù)），已達(dá)到國(guó)外先進(jìn)水平。目前，已新開發(fā)出數(shù)控系統(tǒng)80種。自“七五”以來，國(guó)家一直把數(shù)控系統(tǒng)的發(fā)展作為重中之重來支持，現(xiàn)已開發(fā)出具有中國(guó)版權(quán)的數(shù)控系統(tǒng)，掌握了國(guó)外一直對(duì)我國(guó)封鎖的一些關(guān)鍵技術(shù)。
我國(guó)數(shù)控機(jī)床產(chǎn)業(yè)面臨的挑戰(zhàn)是國(guó)內(nèi)市場(chǎng)占有率偏低。據(jù)有關(guān)資料表明,年國(guó)產(chǎn)數(shù)控機(jī)床的市場(chǎng)占有率僅為38.88%。造成這種嚴(yán)峻的形勢(shì),除客觀原因外,主要是產(chǎn)品的質(zhì)量、可靠性不過硬?！笆濉逼陂g,我國(guó)機(jī)械制造工業(yè)正朝著精密化、柔性化、集成化、自動(dòng)化、智能化方面迅速發(fā)展,國(guó)內(nèi)數(shù)控機(jī)床需求強(qiáng)勁,我國(guó)數(shù)控機(jī)床產(chǎn)業(yè)適逢極好的發(fā)展機(jī)遇。然而,我國(guó)加入ＷＴＯ后,國(guó)外生產(chǎn)的數(shù)控機(jī)床將會(huì)更多的進(jìn)入我國(guó)市場(chǎng)市場(chǎng)競(jìng)爭(zhēng)更為激烈。提高國(guó)產(chǎn)數(shù)控機(jī)床市場(chǎng)占有率,關(guān)鍵在于提高質(zhì)量和可靠性。幾年來,經(jīng)過對(duì)國(guó)內(nèi)外數(shù)控機(jī)床的機(jī)械結(jié)構(gòu)剖析和使用性能的調(diào)研,探索和總結(jié)了數(shù)控機(jī)床機(jī)械結(jié)構(gòu)設(shè)計(jì)和制造的新技術(shù)?，F(xiàn)時(shí)主要存在有以下幾個(gè)問題：
（1）缺乏產(chǎn)業(yè)規(guī)模
（2）缺乏發(fā)展數(shù)控產(chǎn)業(yè)的政策和技術(shù)配套體系
（3）缺乏技術(shù)創(chuàng)新，產(chǎn)品更新和產(chǎn)業(yè)調(diào)整的內(nèi)在動(dòng)力
（4）面臨國(guó)外強(qiáng)手競(jìng)爭(zhēng)的巨大壓力
回顧數(shù)控技術(shù)的發(fā)展已經(jīng)經(jīng)歷了兩個(gè)階段，六代的發(fā)展歷程。第一個(gè)階段叫做NC階段，經(jīng)歷了電子管、晶體管、和小規(guī)模集成電路三代。自1970年開始小型計(jì)算機(jī)開始用于數(shù)控系統(tǒng)就進(jìn)入了第二個(gè)階段，叫做CNC階段，成為第四代數(shù)控系統(tǒng)：從1974年微處理器開始用于數(shù)控系統(tǒng)即發(fā)展到第五代。經(jīng)過十多年的發(fā)展，數(shù)控系統(tǒng)從性能到可靠性都得到了根本性的提高。實(shí)際上從20世紀(jì)末期直到今天，在生產(chǎn)中使用的數(shù)控系統(tǒng)大部分都是第五代數(shù)控系統(tǒng)。但第五代數(shù)控系統(tǒng)以及以前各代都是一種專用封閉的系統(tǒng)，而第六代——開放式數(shù)控系統(tǒng)將代表著數(shù)控系統(tǒng)的未來發(fā)展方向，將在現(xiàn)代制造業(yè)中發(fā)揮越來越重要的作用。
隨著科學(xué)技術(shù)的發(fā)展、制造技術(shù)的進(jìn)步和人類生活水平的提高，以及社會(huì)對(duì)產(chǎn)品質(zhì)量和品種的多樣化的要求趨勢(shì)日益增強(qiáng)。中、小批量生產(chǎn)的比例明顯增加，對(duì)數(shù)控機(jī)床的柔性和通用性提出了更高的要求，希望市場(chǎng)能提供不同加工需求，能迅速高效、低成本地構(gòu)筑面向用戶的控制系統(tǒng)，并大幅度地降低維護(hù)和培訓(xùn)的成本，同時(shí)還要求具有網(wǎng)絡(luò)功能，以適應(yīng)未來車間面向任務(wù)和定單的生產(chǎn)組織和管理模式。為此，近10年來，隨著計(jì)算機(jī)技術(shù)的飛速發(fā)展，各種不同層次的開放式數(shù)控系統(tǒng)應(yīng)運(yùn)而生，發(fā)展很快。目前正朝標(biāo)準(zhǔn)化開放體系結(jié)構(gòu)的方向前進(jìn)。就體系結(jié)構(gòu)而言，當(dāng)今世界上的數(shù)控系統(tǒng)大致分為4種類型：傳統(tǒng)數(shù)控系統(tǒng)、“PC嵌入NC結(jié)構(gòu)的數(shù)控系統(tǒng)、“NC嵌入PC”結(jié)構(gòu)的開放式數(shù)控統(tǒng)、開放式數(shù)控系統(tǒng)。特別是進(jìn)入20世紀(jì)90年代以來，隨著國(guó)際上計(jì)算機(jī)技術(shù)突飛猛進(jìn)的發(fā)展，數(shù)控技術(shù)正在不斷采用計(jì)算機(jī)、控制理論等領(lǐng)域的最新技術(shù)成就。目前外數(shù)控機(jī)床的性能正朝著高速化、高精度、高效率、高柔性、高自動(dòng)化、高可靠性、智能化、復(fù)合化、網(wǎng)絡(luò)化、開放式體系結(jié)構(gòu)等方向迅速發(fā)展這將對(duì)數(shù)控機(jī)床機(jī)械結(jié)構(gòu)設(shè)計(jì)和制造的質(zhì)量和可靠性提出更高的要求?！笆濉逼陂g,我國(guó)機(jī)械制造行業(yè)必須瞄準(zhǔn)國(guó)際數(shù)控機(jī)床發(fā)展的科學(xué)前沿,開拓創(chuàng)新,消化吸收國(guó)外先進(jìn)技術(shù),開創(chuàng)我國(guó)數(shù)控機(jī)床設(shè)計(jì)和制造技術(shù)的新局面。
X-Y Pneumatic manipulator is a automated devices that can mimic the human hand and arm movements to do something，aslo can according to a fixed procedure to moving objects or control tools. It can replace the heavy labor in order to achieve the production mechanization and automation, and can work in dangerous working X-Y environments to protect the personal safety, Therefore widely used in machine building, metallurgy, electronics, light industry and atomic energy sectors.o do something，aslo can according to a fixed procedure to moving objects or control tools. It can replace the heavy labor in order to achieve the production mechanization and automation, and can work in dangerous working X-Y environments to protect the personal safety, Therefore widely used in machine building, metallurgy, electronics, light industry and atomic energy sectors.
This article is mainly of the pneumatic manipulator the overall design, and pneumatic design. This mechanism of manipulator includes cylinders and claws and connectors parts, it can move according to the due track on the movement of grabbing, carrying and unloading. The pneumatic part of the design is primarily to choose the right valves and design a reasonable pneumatic control loop, by controlling and regulating pressure, flow and direction of the compressed airo make it get the necessary strength, speed and changed the direction of movement in the prescribed procedure work.
s. It can replace the heavy labor in order to achieve the production mechanization and automation, and can work in dangerous working environments to protect the personal safety, Therefore widely used in machine building, metallurgy, electronics, light industry and atomic .The principle, technical pare-maters, transmiting system and main parts structure of mincing ma-chine were introduced. The productingcapacity was analysed.Keywords Mincing machine Holds plate Cutting blade Transfer auger.
This article is mainly of the pneumatic manipulator the overall design, and pneumatic design. This mechanism of manipulator includes cylinders and claws and connectors parts, it can move according to the due track on the movement of grabbing, carrying and unloading.X-Y The pneumatic part of the design is primarily to choose the right valves and design a reasonable pneumatic control loop, by controlling and regulating pressure, flow and direction of the compressed air to make it get the necessary strength, speed and changed the direction of movement in the prescribed procedure work.
s. It can replace the heavy labor in order to achieve the production mechanization and automation, and can work in dangerous working environments to protect the personal safety, Therefore widely used in machine building, metallurgy, electronics, light industry and atomic .The principle, technical pare-maters, transmiting system and main parts structure of mincing ma-chine were introduced. The productingcapacityrying and unloading. The pneumatic part of the design is primarily to choose the right valves and design a reasonable pneumatic control loop, by controlling and regulating pressure, flow and direction of the compressed air to make it get the necessary strength, speed and changed the direction of movement in the prescribed procedure work.
s. It can replace the heavy labor in order to achieve the production mechanization and automation, and can work in dangerous working environments to protect the personal safety, Therefore widely used in machine building, metallurgy, electronics, light industry and atomic .The principle, technicalpare-maters,transmitingsystemwas analysed.Keywords Mincing machine Holds plate Cutting blade Transfer auger
This paper discusses the meat processing machinery - crusher working principle, main technical parameters, transmission system, the typical parts of the structure design and production capacity analysis.umatic manipulator is a automated devices that can mimic the human hand and arm movements to do something，aslo can according to a fixed procedure to moving objects or control tools. It can replace the heavy labor in order to achieve the production mechanization and automation, and can work in dangerous working X-Y environments to protect the personal safety, Therefore widely used in machine building, metallurgy, electronics, light industry and atomic energy sectors.
This article is mainly of the pneumatic manipulator the overall design, and pneumatic design. This mechanism of manipulator includes cylinders and claws and connectors parts, it can move according to the due track on the movement of grabbing, carrying and unloading. The pneumatic part of the design is primarily to choose the right valves and design a reasonable pneumatic control loop, by controlling and regulating pressure, flow and direction of the compressed air to make it get the necessary strength, speed and changed the direction of movement in the prescribed procedure work.
s. It can replace the heavy labor in order to achieve the production mechanization and automation, and can work in dangerous working environments to protect the personal safety, Therefore widely used in machine building, metallurgy, electronics, light industry and atomic .The principle, technical pare-maters, transmiting system and main parts structure of mincing ma-chine were introduced. The productingcapacity was analysed.Keywords Mincing machine Holds plate Cutting blade Transfer auger
This paper discusses the meat processing machinery - crusher working principle, main technical parameters, transmission system, the typical parts of the structure design and production capacity analysis.gn, and pneumatic design. This mechanism of manipulator includes cylinders and claws and connectors parts, it can move according to the due track on the movement of grabbing, carrying and unloading. The pneumatic part of the design is primarily to choose the right valves and design a reasonable pneumatic control loop, by controlling and regulating pressure, flow and direction of the compressed air to make it get the necessary strength, speed and changed the direction of movement in the prescribed procedure work.It can replace the heavy labor in ordeSmall twisted paper broken machine for ordinary home, not only can be used for minced meat, can also be used with crushed peanuts, crushed ice, spices and other foot .Small twisted paper broken machine for ordinary home, not only can be used for minced X-Y meat, can also be used with crushed peanuts, crushed ice, spices and other food, small power requirements, powered by the motor drive, reasonable structure design, can meet the family kitchen generally meat food consisting mainly of minced required.
Key word: pneumatic manipulator；cylinder；pneumatic loop；Four degrees of freedom.
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