機(jī)械手外文翻譯---立柱式助力機(jī)械手設(shè)計(jì)

1、<p>　　畢業(yè)設(shè)計(jì)外文資料翻譯</p><p>　　題 目 立柱式助力機(jī)械手設(shè)計(jì) </p><p>　　學(xué) 院 機(jī)械工程學(xué)院 </p><p>　　專 業(yè) 機(jī)械工程及自動(dòng)化 </p><p>　　班 級(jí)

2、 機(jī)自 0902 </p><p>　　學(xué) 生 </p><p>　　學(xué) 號(hào) </p><p>　　指導(dǎo)教師 </p>&

3、lt;p>　　二〇一三 年 三 月 十五 日</p><p>　　Manufacturing Engineering and Technology——Machining, 2004</p><p>　　The Design of Hand Column Type Power Machine</p><p>　　Serope kalpak jian,Steven

4、 R.Schmid</p><p>　　Shanghai Metallurgical Research Institute of Chinese Academy of Sciences</p><p><b>　　Abstract</b></p><p>　　Machine hand developed in recent decades as

5、 high-tech automated production equipment. Industrial machine hand is an important branch of industrial machine hands. It features can be programmed tasks in a variety of expectations, in both structure and performance a

6、dvantages of their own people and machines, in particular, reflects the people’s intelligence and adaptability. The accuracy of machine hand operations and a variety of environments the ability to complete the work in th

7、e field of nation</p><p>　　1. An overview of industrial manipulator</p><p>　　Machine hand is a kind of positioning control which can be automated and can be re-programmed to change in multi-func

8、tional 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-intensiv

9、e, mechanical hand use has become increasingly popular. Electronics and automotive industries that Europe and the Unites States multinational companies very early </p><p>　　plastic processing plants have als

10、o 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.</p>&l

11、t;p>　　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 o

12、r operation of brazing, spray gun, wrenches and other tools for processing and assembly operations since, which has more and more attracted our attention.</p><p>　　Machine hand is to imitate the manual part

13、of the action, according to a given program, track and requirements for automatic capture, handling or operation of the automatic mechanical devices.</p><p>　　In real life, you will find this a problem. In t

14、he 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.

15、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.</

16、p><p>　　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 th

17、e 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 mac

18、hine hand to be used in actual production.</p><p>　　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. Wi

19、th pressure-driven and other energy-driven comparison have the following advantages: </p><p>　　1. Air inexhaustible, used later discharged into the atmosphere, does not require recycling and disposal, do not

20、 pollute the environment. (Concept of environmental protection) </p><p>　　2. Air stick is small, the pipeline pressure loss is small (typically less than asphalt gas path pressure drop of one-thousandth), to

21、 facilitate long-distance transport. </p><p>　　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 accur

22、acy requirements can be lowered. </p><p>　　4. With the hydraulic transmission, compared to its faster action and reaction, which is one of the advantages pneumatic outstanding. </p><p>　　5. The

23、air cleaner media, it will not degenerate, not easy to plug the pipeline. </p><p>　　But there are also places where it flies in the ointment: </p><p>　　1. As the compressibility of air, resultin

24、g in poor aerodynamic stability of the work, resulting in the implementing agencies as the precision of the velocity and not easily controlled. </p><p>　　2. As the use of low atmospheric pressure, the output

25、 power cannot be too large; in order to increase the output power is bound to the structure of the entire pneumatic system size increased.</p><p>　　2. The composition, mechanical hand</p><p>　　M

26、achine 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

27、systems and auxiliary devices composed.</p><p>　　Implementing agencies</p><p>　　Manipulator executing agency by the hands, wrists, arm, pillars. Hands are crawling institutions, is used to clamp

28、 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 mech

29、anical hand cannot wrist. Pillars used to support the arm can also be made mobile as needed.</p><p>　　Transmission</p><p>　　The actuator to be achieved by the transmission system. Sub-transmissi

30、on system commonly used manipulator mechanical transmission, hydraulic transmission, pneumatic and electric power transmission and other drive several forms.</p><p>　　Control System</p><p>　　Man

31、ipulator 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

32、 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 m

33、achine hand controller, the micro-computer control..</p><p>　　3. Mechanical hand classification and characteristics</p><p>　　Machine hands are generally divided into three categories: the first

34、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 provision

35、s. 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 aircraf</p>

36、;<p>　　Main features</p><p>　　First, mechanical hand (the upper and lower material machine hand, assembly machine hand, handling machine hand, stacking machine hand, help machine hand, vacuum handling

37、 machines, vacuum suction crane, labor-saving spreader, pneumatic balancer,etc.)</p><p>　　Second, cantilever cranes (cantilever crane, electric chain hoist crane, air balance the hanging, etc.)</p>&l

38、t;p>　　Third, rail-type transport system (hanging rail, light rail, single girder cranes, double-beam crane)</p><p>　　Four, industrial machinery, application of hand</p><p>　　Manipulator in th

39、e 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-tec

40、h 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.</p>

41、<p>　　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 comp

42、ared with manual large, therefore, mechanical hand has been applied widely, for example: </p><p>　　Machining the work piece loading and unloa

43、ding, especially in the automatic lathe, combination machine tool use is more common.</p><p>　　In the assembly operations are widely used in the electronics industry, it can be used to assemble printed circu

44、it boards, in the machinery industry. It can be used to assemble parts and components.</p><p>　　The working conditions may be poor, monotonous, repetitive easy to sub-fatigue working environment to replace h

45、uman labor.</p><p>　　May be in dangerous situations, such as military goods handling, dangerous goods and hazardous material removal and so on.</p><p>　　Universe and ocean development.</p>

46、<p>　　Military engineering and biomedical research and testing.</p><p>　　Help mechanical hand: all know as the balancer, balance suspended, labor-saving spreader, manual Transfer machine is a kind of

47、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, creatin

48、g customized cases.</p><p>　　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 action

49、s. 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,

50、 improving working conditions and ensure personal safely. The late 20th century,40, the United Stated </p><p>　　It can replace human labor in order to achieve the production of heavy mechanization and automa

51、tion 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

52、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</p><p>　　Manipulator

53、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 f

54、orms, 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.</p><

55、p>　　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. I

56、n 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 develo

57、pment of machine hand, allowing machine hand to better achieved wit</p><p>　　Manufacturing Engineering and Technology——Machining, 2004</p><p>　　立柱式助力機(jī)械手設(shè)計(jì)</p><p>　　Serope kalpak jia

58、n,Steven R.Schmid</p><p>　　中國科學(xué)院上海冶金研究所</p><p>　　摘 要：機(jī)械手是近幾十年發(fā)展起來的一種高科技自動(dòng)化生產(chǎn)設(shè)備。工業(yè)機(jī)械手是工業(yè)機(jī)器人的一個(gè)重要分支。它的特點(diǎn)是可通過變成來完成各種預(yù)期的作業(yè)任務(wù)，在構(gòu)造和性能上兼有人和機(jī)器各自的優(yōu)點(diǎn)，尤其體現(xiàn)了人的智能和適應(yīng)性。機(jī)械手作業(yè)的準(zhǔn)確性和在各種壞境中完成作業(yè)的能力，在國民經(jīng)濟(jì)各領(lǐng)域有著廣闊的發(fā)簪

59、前景。隨著工業(yè)自動(dòng)化的發(fā)展，出現(xiàn)了數(shù)控加工中心，他在減輕工人勞動(dòng)強(qiáng)度的同時(shí)，大大提高了勞動(dòng)生產(chǎn)率，但數(shù)控加工中常見的上下料工序，通常仍采用人工操作或傳統(tǒng)繼電器控制的半自動(dòng)化裝置。前者費(fèi)時(shí)費(fèi)工，效率低，后者因設(shè)計(jì)復(fù)雜，需要較多繼電器，接線復(fù)雜，易受車體震動(dòng)干擾，而存在可靠性差，故障多，維修困難等問題?？删幊坛绦蚩刂破鱌LC控制的上下料機(jī)械手控制系統(tǒng)動(dòng)作簡(jiǎn)便、線路設(shè)計(jì)合理、具有較強(qiáng)的抗干擾能力，保證了系統(tǒng)運(yùn)行的可靠性，降低了維修率，提高了工

60、作效率。機(jī)械手技術(shù)涉及到力學(xué)、機(jī)械學(xué)、電氣液壓技術(shù)、自動(dòng)控制技術(shù)、傳感器技術(shù)和計(jì)算機(jī)技術(shù)等學(xué)科領(lǐng)域，是一門跨學(xué)科綜合技術(shù)。</p><p><b>　　1工業(yè)機(jī)械手的概述</b></p><p>　　機(jī)械手是一種能自動(dòng)化定位控制并可重新編程序以變動(dòng)的多功能機(jī)器，它有多個(gè)自由度，可用來搬運(yùn)物體以完成在各個(gè)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(dòng)力

61、密集型，機(jī)械手的使用已經(jīng)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?cè)O(shè)在中國的工廠中引進(jìn)了自動(dòng)化生產(chǎn)。但現(xiàn)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(duì)機(jī)械手表現(xiàn)出越來越濃厚的興趣,因?yàn)樗麄円鎸?duì)工人流失率高,以及工人交工傷費(fèi)帶來的挑戰(zhàn)。</p><p>　　隨著我國工業(yè)生產(chǎn)的飛躍發(fā)展，特別是改革開放以后，自動(dòng)化程度的迅速提高，實(shí)現(xiàn)工件的裝卸、轉(zhuǎn)向、輸送或操作釬焊、噴槍、扳

62、手等工具進(jìn)行加工、裝配等作業(yè)自動(dòng)化，已越來越引起我們的重視。</p><p>　　機(jī)械手是模仿著人手的部分動(dòng)作，按給定的程序、軌跡和要求實(shí)現(xiàn)自動(dòng)抓取、搬運(yùn)或操作的自動(dòng)機(jī)械裝置。</p><p>　　在現(xiàn)實(shí)生活中，你是否會(huì)發(fā)現(xiàn)這樣一個(gè)問題：在機(jī)械工廠里，加工零件裝料的時(shí)候是不是很麻煩的，勞動(dòng)生產(chǎn)率不高，生產(chǎn)成本大，有時(shí)候還會(huì)發(fā)生一些人為事故，導(dǎo)致加工者受傷。想想看用什么可以代替呢，加工的時(shí)候

63、只要有幾個(gè)人巡視一下，且可以24小時(shí)飽和運(yùn)作，人行嗎？回答是肯定的，但是機(jī)械式可以來代替它。</p><p>　　生產(chǎn)中應(yīng)用機(jī)械手可以提高生產(chǎn)的自動(dòng)化水平和勞動(dòng)生產(chǎn)率；可以減輕勞動(dòng)強(qiáng)度、保證產(chǎn)品質(zhì)量、實(shí)現(xiàn)安全生產(chǎn)；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(jìn)行正常工作。想到這我就很想設(shè)計(jì)一個(gè)機(jī)械手用于生產(chǎn)實(shí)際當(dāng)中。</p><p>　　為什么選擇設(shè)

64、計(jì)機(jī)械手用氣動(dòng)來提供動(dòng)力：氣動(dòng)機(jī)械手是指以壓縮空氣為動(dòng)力源驅(qū)動(dòng)的機(jī)械手。用氣壓驅(qū)動(dòng)與其他能源驅(qū)動(dòng)比較有以下有點(diǎn)：</p><p>　　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）</p><p>　　2.空氣的沾性很小，管路中壓力損失也小（一般氣路阻力損失不到油路的千分之一），便于遠(yuǎn)距離輸送。</p><p>　　3.壓縮空氣的工

65、作壓力較低（一般為4-8公斤/每平方厘米），因此對(duì)動(dòng)元件的材質(zhì)和制造精度要求可以降低。</p><p>　　4.與液壓傳動(dòng)相比，它的動(dòng)作和反應(yīng)都快，這是氣動(dòng)突出的優(yōu)點(diǎn)之一。</p><p>　　5.空氣介質(zhì)清潔，亦不會(huì)變質(zhì)，管路不易堵塞。</p><p>　　但是也有它美中不足的地方：</p><p>　　1.由于空氣的可壓縮性，只是氣動(dòng)工作

66、的穩(wěn)定性差，因而造成執(zhí)行機(jī)構(gòu)運(yùn)動(dòng)速度和定位精度不易控制。</p><p>　　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(gè)氣動(dòng)系統(tǒng)的結(jié)構(gòu)尺寸加大。</p><p><b>　　2機(jī)械手的組成</b></p><p>　　機(jī)械手的形式是多種多樣的，有的較為簡(jiǎn)單，有的較為復(fù)雜，但基本的組成形式是相同的，一般由執(zhí)行機(jī)構(gòu)、傳動(dòng)系統(tǒng)

67、、控制系統(tǒng)和輔助裝置組成。</p><p><b>　　1.執(zhí)行機(jī)構(gòu)</b></p><p>　　機(jī)械手的執(zhí)行機(jī)構(gòu)，由手、手腕、手臂、支柱組成。手是抓取機(jī)構(gòu)，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(dòng)作。手腕是連接手指與手臂的元件，可以進(jìn)行上下、左右和回轉(zhuǎn)動(dòng)作。簡(jiǎn)單的機(jī)械手可以沒有手腕。支柱用來支撐手臂，也可以根據(jù)與要做成移動(dòng)。</p>&

68、lt;p><b>　　2.傳動(dòng)系統(tǒng)</b></p><p>　　執(zhí)行機(jī)構(gòu)的動(dòng)作要由傳動(dòng)系統(tǒng)來實(shí)現(xiàn)。常用機(jī)械手傳動(dòng)系統(tǒng)分為機(jī)械傳動(dòng)、液壓傳動(dòng)、氣壓傳動(dòng)和電力傳動(dòng)等幾種形式。</p><p><b>　　3.控制系統(tǒng)</b></p><p>　　機(jī)械手控制系統(tǒng)的主要作用是控制機(jī)械手按一定的程序、方向、位置、速度進(jìn)行動(dòng)作，

69、簡(jiǎn)單的機(jī)械手一般不設(shè)置專用的控制系統(tǒng)，只采用行程開關(guān)、繼電器、控制閥及電路便可以實(shí)現(xiàn)傳動(dòng)系統(tǒng)的控制，使執(zhí)行機(jī)構(gòu)按要求進(jìn)行動(dòng)作。動(dòng)作復(fù)雜的機(jī)械手則要求采用可編程控制器、微型計(jì)算機(jī)進(jìn)行控制。</p><p>　　3機(jī)械手的分類和特點(diǎn)</p><p>　　機(jī)械手一般分為三類：第一類是不需要人工操作的通用機(jī)械手。它是一種獨(dú)立的不附屬于某一主機(jī)的裝置。它可以根據(jù)任務(wù)的需要編制程序，以完成各項(xiàng)規(guī)定的操

70、作。它的特點(diǎn)是具備普通機(jī)械的性能之外，還具備通用機(jī)械、記憶智能的三元機(jī)械。第二類是需要人工才做的，成為操作機(jī)。它起源于原子、軍事工業(yè)，先是通過操作機(jī)來完成特定的作業(yè)，后來發(fā)展到用無線電訊號(hào)操作機(jī)來進(jìn)行探測(cè)月球等。工業(yè)中采用的鍛造操作機(jī)也屬于這一范疇。第三類是專用機(jī)械手，主要附屬于自動(dòng)機(jī)床或自動(dòng)線上，用以解決機(jī)床上下料和工件傳送，這類機(jī)械手在國外稱為“Mechanical Hand”它是為主機(jī)服務(wù)的，由主機(jī)驅(qū)動(dòng)；除少數(shù)外，工作程序一般是固

71、定的，因此是專用的。</p><p><b>　　主要特點(diǎn)：</b></p><p>　　（1）機(jī)械手（上下料機(jī)械手、裝配機(jī)械手、搬運(yùn)機(jī)械手、堆垛機(jī)械手、助力機(jī)械手、真空搬運(yùn)機(jī)、真空吸吊機(jī)、省力吊具、氣動(dòng)平衡器等）。</p><p>　　（2）懸臂起重機(jī)（懸臂吊、電動(dòng)環(huán)鏈葫蘆吊、氣動(dòng)平衡吊等）。</p><p>　?。?

72、）導(dǎo)軌式搬運(yùn)系統(tǒng)（懸掛軌道、輕型軌道、單梁起重機(jī)、雙梁起重機(jī)）。 </p><p>　?。?）工業(yè)機(jī)械手的應(yīng)用</p><p>　　機(jī)械手是在機(jī)械化、自動(dòng)化生產(chǎn)過程中發(fā)展起來的一種新型裝置。近年來，隨著電子技術(shù)特別是電子計(jì)算機(jī)的廣泛應(yīng)用，機(jī)器人的研制和生產(chǎn)已成為高技術(shù)領(lǐng)域內(nèi)迅速發(fā)展起來的一門新興技術(shù)，它更加促進(jìn)了機(jī)械手的發(fā)展，使得機(jī)械手能更好地實(shí)現(xiàn)與機(jī)械化自動(dòng)化的有機(jī)結(jié)合。<

73、;/p><p>　　機(jī)械手雖然目前還不如人手那樣靈活，但它具有能不斷重復(fù)工作和勞動(dòng)、不知疲勞、不怕危險(xiǎn)、抓舉重物的力量比人手大等特點(diǎn)，因此，機(jī)械手已受到許多部門的重視，并越來越廣泛地得到了應(yīng)用，例如：</p><p>　　機(jī)床加工工件的裝卸，特別是在自動(dòng)化車床，組合機(jī)床上使用較為普遍。</p><p>　　在裝配作業(yè)中應(yīng)用廣泛，在電子行業(yè)中它可以用來裝配印制電路板，在機(jī)

74、械行業(yè)中它可以用來組裝零部件。</p><p>　　可在勞動(dòng)條件差，單調(diào)重復(fù)易疲勞的工作環(huán)境工作，以代替認(rèn)的勞動(dòng)。</p><p>　　可在危險(xiǎn)場(chǎng)合下工作，如軍工品的裝卸、危險(xiǎn)品及有害物的搬運(yùn)等。</p><p><b>　　宇宙及海洋的開發(fā)。</b></p><p>　　軍事工程及生物醫(yī)學(xué)方面的研究和實(shí)驗(yàn)。</p

75、><p>　　助力機(jī)械手：又稱平衡器、平衡吊、省力吊具、手動(dòng)移載機(jī)等，是一種無重力化手動(dòng)承載系統(tǒng)，一種新穎的、用于物料搬運(yùn)時(shí)省力化操作的助力設(shè)備，屬于一種非標(biāo)設(shè)計(jì)的系列化產(chǎn)品。針對(duì)客戶應(yīng)用需求，量身定制的個(gè)案創(chuàng)作。</p><p>　　一種模擬人手操作的自動(dòng)機(jī)械，它可按固定程序抓取、搬運(yùn)物件或操持工具完成某些特定操作。應(yīng)用機(jī)械手可以代替人從事單調(diào)、重復(fù)或繁重的體力勞動(dòng)，實(shí)現(xiàn)生產(chǎn)的機(jī)械化和自動(dòng)化

76、，代替人在有害的環(huán)境下的手工操作，改善勞動(dòng)條件，保證人身安全。20世紀(jì)40年代后期，美國在原子能試驗(yàn)中，首先采用機(jī)械手搬運(yùn)放射性材料，人在安全室操縱機(jī)械手進(jìn)行各種操作和實(shí)驗(yàn)。50年代以后，機(jī)械手逐步推廣到工業(yè)生產(chǎn)部門，用于在高溫、污染嚴(yán)重的地方取放工件和裝卸材料，也作為機(jī)床的輔助裝置在自動(dòng)機(jī)床、自動(dòng)生產(chǎn)線和加工中心中應(yīng)用，完成上下料或從刀庫中取放道具并按固定程序更換刀具等操作。機(jī)械手主要有手部機(jī)構(gòu)和運(yùn)動(dòng)機(jī)構(gòu)組成。手部機(jī)構(gòu)隨使用場(chǎng)合和操作

77、對(duì)象而不同，常見的有加持、托持和吸附等類型。運(yùn)動(dòng)機(jī)構(gòu)一般由液壓、氣動(dòng)、電氣裝置驅(qū)動(dòng)。機(jī)械手可獨(dú)立地實(shí)現(xiàn)伸縮、旋轉(zhuǎn)和升降等運(yùn)動(dòng)，一般有2~3個(gè)自由度。機(jī)械手廣泛用于機(jī)械制造、冶金、輕功和原子能等部門。</p><p>　　能模仿人手和臂的某些動(dòng)作功能，用以按固定程序抓取、搬運(yùn)物件或操作工具的自動(dòng)操作裝置。它可代替人的繁重勞動(dòng)以實(shí)現(xiàn)生產(chǎn)的機(jī)械化和自動(dòng)化，能在有害環(huán)境下操作以保護(hù)人身安全，因而廣泛應(yīng)用于機(jī)械制造、冶金、

78、電子、輕工和原子能等部門。機(jī)械手通常用作機(jī)床或其他機(jī)器的附加裝置，如在自動(dòng)機(jī)床或自動(dòng)生產(chǎn)線上裝卸和傳遞工件，在加工中心更換刀具等，一般沒有獨(dú)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(xiǎn)物品的主從式操作手也常稱為機(jī)械手。</p><p>　　機(jī)械手主要由手部和運(yùn)動(dòng)機(jī)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)要求而有有多種結(jié)構(gòu)形式，如加持型、托持型和

79、吸附型等。運(yùn)動(dòng)機(jī)構(gòu)，使手部完成各種轉(zhuǎn)動(dòng)（擺動(dòng)）、移動(dòng)或復(fù)合運(yùn)動(dòng)來實(shí)現(xiàn)規(guī)定的動(dòng)作，改變被抓持物件的位置和姿勢(shì)。</p><p>　　機(jī)械手是在自動(dòng)化生產(chǎn)過程中使用的一種具有抓取和移動(dòng)工件功能的自動(dòng)化裝置，它是在機(jī)械化，自動(dòng)化生產(chǎn)過程中發(fā)展起來的一種新型裝置。近年來，隨著電子技術(shù)特別是電子計(jì)算機(jī)的廣泛應(yīng)用，機(jī)器人的研制和生產(chǎn)已成為高技術(shù)領(lǐng)域內(nèi)迅速發(fā)展起來的一門新興技術(shù)，它更加促進(jìn)了機(jī)械手的發(fā)展，使得經(jīng)銷商能更好地實(shí)現(xiàn)

80、與機(jī)械化和自動(dòng)化的有機(jī)結(jié)合。機(jī)械手能代替人類完成危險(xiǎn)、重復(fù)枯燥的工作，減輕人類勞動(dòng)強(qiáng)度，提高勞動(dòng)生產(chǎn)力。機(jī)械手越來越得到了廣泛的應(yīng)用，在機(jī)械行業(yè)中它可用于零部件的組裝，加工工件的搬運(yùn)、裝卸，特別是在自動(dòng)化數(shù)控機(jī)床、組合機(jī)床上使用更普遍。目前，機(jī)械手已發(fā)展成為柔性制造系統(tǒng)FMS和柔性制造單元FMC中一個(gè)重要組成部分。吧機(jī)床設(shè)備和機(jī)械手共同構(gòu)成一個(gè)柔性加工系統(tǒng)或柔性制造單元，它適用于中、小批量生產(chǎn)，可以節(jié)省龐大的工件輸送裝置，結(jié)構(gòu)緊湊，而且