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機械手 能模仿人手和臂的某些動作功能，用以按固定程序抓取、搬運物件或操作工具的自動操作裝置。它可代替人的繁重勞動以實現(xiàn)生產(chǎn)的機械化和自動化，能在有害環(huán)境下操作以保護人身安全，因而廣泛應用于機械制造、冶金、電子、輕工和原子能等部門。 機械手主要由手部和運動機構(gòu)組成。手部是用來抓持工件（或工具）的部件，根據(jù)被抓持物件的形狀、尺寸、重量、材料和作業(yè)要求而有多種結(jié)構(gòu)形式，如夾持型、托持型和吸附型等。運動機構(gòu)，使手部完成各種轉(zhuǎn)動（擺動）、移動或復合運動來實現(xiàn)規(guī)定的動作，改變被抓持物件的位置和姿勢。運動機構(gòu)的升降、伸縮、旋轉(zhuǎn)等獨立運動方式，稱為機械手的自由度 。為了抓取空間中任意位置和方位的物體，需有6個自由度。自由度是機 械手設計的關(guān) 鍵參數(shù)。自由 度越多，機械手的靈活性越大，通用性越廣，其結(jié)構(gòu)也越復雜。一般專用機械手有2～3個自由度。 機械手的種類，按驅(qū)動方式可分為液壓式、氣動式、電動式、機械式機械手；按適用范圍可分為專用機械手和通用機械手兩種；按運動軌跡控制方式可分為點位控制和連續(xù)軌跡控制機械手等。 機械手通常用作機床或其他機器的附加裝置，如在自動機床或自動生產(chǎn)線上裝卸和傳遞工件，在加工中心中更換刀具等，一般沒有獨立的控制裝置。有些操作裝置需要由人直接操縱，如用于原子能部門操持危險物品的主從式操作手也常稱為機械手。 二、課題研究的目的、意義 在機械工業(yè)中，應用機械手的意義可以概括如下： 一、以提高生產(chǎn)過程中的自動化程度 應用機械手有利于實現(xiàn)材料的傳送、工件的裝卸、刀具的更換以及機器的裝配等的自動化的程度，從而可以提高勞動生產(chǎn)率和降低生產(chǎn)成本。 二、以改善勞動條件，避免人身事故 在高溫、高壓、低溫、低壓、有灰塵、噪聲、臭味、有放射性或有其他毒性污染以及工作空間狹窄的場合中，用人手直接操作是有危險或根本不可能的，而應用機械手即可部分或全部代替人安全的完成作業(yè)，使勞動條件得以改善。 在一些簡單、重復，特別是較笨重的操作中，以機械手代替人進行工作，可以避免由于操作疲勞或疏忽而造成的人身事故。 三、可以減輕人力，并便于有節(jié)奏的生產(chǎn) 應用機械手代替人進行工作，這是直接減少人力的一個側(cè)面，同時由于應用機械手可以連續(xù)的工作，這是減少人力的另一個側(cè)面。因此，在自動化機床的綜合加工自動線上，目前幾乎都沒有機械手，以減少人力和更準確的控制生產(chǎn)的節(jié)拍，便于有節(jié)奏的進行工作生產(chǎn)。 綜上所述，有效的應用機械手，是發(fā)展機械工業(yè)的必然趨勢。 三、國內(nèi)外現(xiàn)狀和發(fā)展趨勢 工業(yè)機械手是近幾十年發(fā)展起來的一種高科技自動化生產(chǎn)設備。工業(yè)機械手的是工業(yè)機器人的一個重要分支。它的特點是可通過編程來完成各種預期的作業(yè)任務，在構(gòu)造和性能上兼有人和機器各自的優(yōu)點，尤其體現(xiàn)了人的智能和適應性。機械手作業(yè)的準確性和各種環(huán)境中完成作業(yè)的能力，在國民經(jīng)濟各領(lǐng)域有著廣闊的發(fā)展前景。 機械手是在機械化，自動化生產(chǎn)過程中發(fā)展起來的一種新型裝置。在現(xiàn)代生產(chǎn)過程中，機械手被廣泛的運用于自動生產(chǎn)線中，機械人的研制和生產(chǎn)已成為高技術(shù)鄰域內(nèi)，迅速發(fā)殿起來的一門新興的技術(shù)，它更加促進了機械手的發(fā)展，使得機械手能更好地實現(xiàn)與機械化和自動化的有機結(jié)合。機械手雖然目前還不如人手那樣靈活，但它具有能不斷重復工作和勞動，不知疲勞，不怕危險，抓舉重物的力量比人手力大的特點，因此，機械手已受到許多部門的重視，并越來越廣泛地得到了應用 自動換刀裝置是數(shù)控加工中心在工件的一次裝夾中實現(xiàn)多道工序加工不可缺少的裝置, 主要由刀庫、機械手和驅(qū)動裝置幾部分組成。機械手和驅(qū)動裝置是兩個關(guān)鍵部分, 根據(jù)驅(qū)動裝置的不同, 自動換刀裝置可分為凸輪式、液壓式、齒輪式、連桿式及各種機構(gòu)復合式, 其中以凸輪式用得較多。發(fā)達國家數(shù)控加工中心的立式自動換刀機械手主要采用凸輪式, 我國加工中心技術(shù)起步較晚, 對自動換刀機械手研究較少。進入20 世紀90 年代后, 北京機床研究所、大連組合機床研究所、濟南第一機床廠、青海機床廠以及陜西省的秦川機床廠都對立式自動換刀機械手進行了研究和開發(fā)。迄今為止, 我國制造的加工中心配置的自動換刀機械手大多數(shù)是進口的。其主要原因: 一是國內(nèi)生產(chǎn)的換刀機械手質(zhì)量較差, 成本也不低; 二是進口換刀機械手價格雖然較高, 但在整個加工中心中所占份額不大。作為加工中心的配套技術(shù), 自動換刀機械手的研究和開發(fā)將直接影響到我國自動化生產(chǎn)水平的提高, 從經(jīng)濟上、技術(shù)上考慮都是十分必要的。 立式換刀機械手和臥式換刀機械手已得到廣泛應用20 世紀90 年代以來, 數(shù)控加工技術(shù)得到迅速的普及和發(fā)展, 數(shù)控機床在制造業(yè)得到了越來越廣泛的應用。帶有自動換刀系統(tǒng)的數(shù)控加工中心在現(xiàn)代先進制造業(yè)中起著愈來愈重要的作用, 它能縮短產(chǎn)品的制造周期, 提高產(chǎn)品的加工精度, 適合柔性加工。加工中心是數(shù)控機床中較為復雜的加工設備, 由于其具有多種加工能力而得到廣泛的應用, 其強大的加工能力和效率得益于其配置的自動換刀裝置(A u2tomat ic Too l Changer)。換刀裝置作為加工中心的重要組成部分, 其主要作用在于減少加工過程中的非切削時間, 提高生產(chǎn)率, 降低生產(chǎn)成本, 進而提升機床乃至整個生產(chǎn)線的生產(chǎn)力。加工中心自動換刀裝置是實現(xiàn)多工序連續(xù)加工的重要裝置, 其結(jié)構(gòu)設計及其控制是實現(xiàn)加工中心設計制造的關(guān)鍵。加工中心的換刀過程較為復雜, 動作多, 動作間的相互協(xié)調(diào)關(guān)系多, 因而自動換刀系統(tǒng)性能的好壞直接影響加工效率的高低. Manipulator Can imitate the arms of the manpower and some action function, according to fixed program to grab, transporting or operating tool for automatic operation of the device. It can replace the hard labor in order to realize people the mechanization of manufacturing and automation, can in harmful environment operation to protect personal safety, and is widely used in mechanical manufacturing, metallurgy, electronics, light industry and atomic energy and other departments. Manipulator by hand and sports organizations main component. The hand is used to catch the workpiece (or tools) components, according to be grasped by the object's shape, size, weight, materials and operational requirements and have a variety of structure forms, such as the gripping type, the type and adsorption type ", etc. Movement mechanism, make hand finish all kinds of rotation (swing), mobile or complex movement to achieve the specified action, change the position of the object were caught and position. The rise and fall of sports organizations, adjustable, and rotated independence movement way, called manipulator of freedom. In order to grab any space position and orientation of the object, need to have six degrees of freedom. Freedom is a machine designed off hand gave the key parameters. The more free degrees, the greater the flexibility of the manipulator, the more general broad, its structure is also more complicated. General robots for 2-3 degrees of freedom. The type of manipulator, according to drive mode can be divided into hydraulic, pneumatic, electric and mechanical manipulator; According to applicable range can be divided into robots for and general manipulator two; According to the trajectory control mode can be divided into position control and continuous track control robots. Robots are used for machine tools or other machines additional device, such as in the automatic machine or automatic production line loading and unloading and transfer on the processing center in replaced in the tools, generally no independent control device. Some operations to direct manipulation by device, as for atomic energy department conducted dangerous goods masterslave gunner is often called the manipulator. Second, subject research of the aim, significance In the machinery industry, the application of the significance of the manipulator can be summarized as follows: A, in order to improve the production process of automation Application materials sent the manipulator to achieve the loading and unloading, and the replacement of the machine tool and the degree of automation in the assembly, etc, which can improve labor productivity and reduce the production cost. Second, to improve working conditions, and avoid personal accident In high temperature, high pressure, low temperature, low pressure, dust, noise and smell, or radioactive or have other toxic pollution and work the occasion of narrow space, the employing hand direct operation is dangerous or impossible, and the use of robots can part or all of the safety of the people instead of complete the work, make labor conditions to improve. In some simple, repetitive, especially a heavy operations, to work instead of human manipulator, can avoid the operation fatigue or negligence personal accident. Three, can reduce the manpower, and to facilitate the rhythmic production Application manipulator to people instead of work, it is the direct reduce human side of, at the same time as the continuous application manipulator can be used to work, it is to reduce human another side. Therefore, in the automation of the machine processing on automatic line, now almost no manipulator, to reduce human and more accurate control of the production of the beat, facilitate rhythmic work on production. To sum up, the effective application of the manipulator, mechanical industry development is an inevitable trend. Three, the situation at home and abroad and its development trend Industrial manipulator is nearly decades developed a kind of high-tech automation production equipment. Industry of industrial robot manipulator is an important branch of. Its characteristic is can programmed to perform a variety of expected task, structure and performance in both man and machine of their respective advantages, especially reflected the intelligence of person and adaptability. Manipulator and the accuracy of all kinds of environment homework in finish the homework ability, in all areas of the national economy has broad prospects for development. Manipulator is in mechanization, automatic production process developed a kind of new type of device. In the modern production process, the manipulator is widely used to automatic production line, robots, developing and producing high technology has become a neighbourhood, quickly hair house up a new technology, it is more to promote the development of the manipulator, making the manipulator to better achieve and mechanization and automation organic union. Although at present the manipulator hand than as flexible, but it has to repeat work and labor, don't know fatigue, is not afraid of the danger, snatch the power of weight than people hand power the characteristics of large, therefore, manipulator has been many departments of attention and was to get more and more extensive application Automatically change the knife device is the nc processing center in the a fixture in the realization process processing indispensable device, and the main tool store, and driving system manipulator a few parts. Manipulator and driving system is two key parts, according to drive the different, automatically change the tool device can be divided into CAM type, hydraulic, gear type, connecting rod type and various institutions compound, among them with the CAM type use morer. The developed countries of the nc machining center vertical automatically change the knife manipulator mainly USES the CAM type, processing center technology in China started late, to automatically change the knife less manipulator. In the 1990 s, Beijing institute of machine tools, dalian modular machine tool research, jinan first machine tool plant in qinghai province of shaanxi province, machine tool plant and shaanxi to vertical automatic machine tool plant in the knife manipulator research and development. So far, China's manufacturing processing center of the configuration of the automatically change the knife manipulator is most of the imports. The main reasons: one is the change of knife manipulator domestic production of poor quality, costs are not low; 2 it is import price change cutters manipulator although higher, but in the whole processing center slice of is not big. As a processing center supporting technology, automatically change the tools of the manipulator of research and development in our country will directly influence the automatic production level increased, from economic and technology on consideration is very necessary. Vertical and horizontal change cutters manipulator change cutters manipulator has been widely used since the 1990 s, nc machining technology of rapid popularization and development, nc machine tools in manufacturing have been applied more and more. With a knife the system automatically change the nc processing center in the modern advanced manufacturing industry plays a more and more important role, it can shorten the production cycle, improve product processing precision, suitable for flexible processing. Processing center is in the numerical control machine is relatively complex processing equipment, since it has many kinds of processing ability.