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1、The Design of Hand Column Type Power Machine工业机械手的设计Serope kalpak jian,Steven R.SchmidAbstract摘要Machine hand developed in recent decades as high-tech automated production equipment. 机械手是近几十年发展起来的一种高科技自动化生产设备。Industrial machine hand is an important branch of industrial machine hands. It features can
2、be 工业机械手是工业机器人的一个重要分支。它的特点是可通过变成来programmed tasks in a variety of expectations, in both structure and performance advantages of 完成各种预期的作业任务，在构造和性能上兼有人和机器their own people and machines, in particular, reflects the peoples intelligence and adaptability. 各自的优点，尤其体现了人的智能和适应性。The accuracy of machine hand
3、operations and a variety of environments the ability to complete 机械手作业的准确性和在各种坏境中完成作业的能力，the work in the field of national economy and there are broad prospects for development. With the 在国民经济各领域有着广阔的发簪前景。development of industrial automation, there has been CNC marching center, it is in reducing lab
4、or 随着工业自动化的发展，出现了数控加工中心，他在减轻工intensity, while greatly improves labor productivity. However, the upper and lower common in 人劳动强度的同时，大大提高了劳动生产率，但数控加工中CNC marching processes material, usually still use manual or traditional relay-controlled 常见的上下料工序，通常仍采用人工操作或传统继电器控制的半semi-automatic device. The former
5、time-consuming and labor intensive, inefficient; the latter due 自动化装置。前者费时费工，效率低， 后者因设计复杂，to design complexity, require more relays, writing complexity, vulnerability to body vibration 需要较多继电器，接线复杂，易受车体震动干扰，interference, while the existence of poor reliability, fault more maintenance problems and ot
6、her 而存在可靠性差，故障多，维修困难等问题。issues. Programmable Logic Controller PLC-controlled machine hand control system for material 可编程程序控制器PLC控制的上下料机械手控制系统动作简便、up and down movement is simple, circuit design is reasonable, while a strong anti-jamming 线路设计合理、具有较强的抗干扰能力，capability, ensuring the systems reliability,
7、 reduced maintenance rate, and improve work 保证了系统运行的可靠性，降低了维修率，提高了工作效率efficiency. Machine hand technology related to mechanics, mechanics, electrical hydraulic 机械手技术涉及到力学、机械学、电气液压技术、technology, automatic control technology, sensor technology and computer technology and other 自动控制技术、传感器技术和计算机技术等学科领域，
8、fields of science, is a cross-disciplinary technology.是一门跨学科综合技术1. An overview of industrial manipulator1工业机械手的概述Machine hand is a kind of positioning control which can be automated and can be 机械手是一种能自动化定位控制并可re-programmed to change in multi-functional machine, which has multiple degrees of freedom
9、can 重新编程序以变动的多功能机器，它有多个自由度，be used to carry an object in order to complete the work in different environments. Low wages in 可用来搬运物体以完成在各个不同环境中工作。在工资水平较低China, plastic products industry, although still a labor-intensive, mechanical hand use has become 的中国，塑料制品行业尽管仍属于劳动力密集型，机械手的使用已经increasingly popula
10、r. Electronics and automotive industries that Europe and the Unites States 越来越普及。那些电子和汽车业的欧美跨国公司很早就在它们设在中multinational companies very early in their factories in China, the introduction of automated 国的工厂中引进了自动化生产。production. But now the changes are those found in industrial-intensive South China, Ea
11、st Chinas 但现在的变化是那些分布在工业密集的华南/华东沿海地区的coastal areas, localplastic processing plants have also emerged in mechanical watches began to become increasingly 中国本土塑料加工厂也开始对机械手表现出越来越浓厚的兴趣,interested in, because they have to face a high turnover rate of workers, as well as for the workers 因为他们要面对工人流失率高,to pa
12、y work-related injuries fee challenges.工人交工伤费带来的挑战。With the rapid development of Chinas industrial production, especially the reform and 随着我国工业生产的飞跃发展，特别是改革opening up after the rapid increase in the degree of automation to achieve the work piece 开放以后，自动化程度的迅速提高，实现工件的装卸、handling, steering, transmissi
13、on or operation of brazing, spray gun, wrenches and other tools for 转向、输送或操作钎焊、喷枪、扳手等工具进行加工、processing and assembly operations since, which has more and more attracted our attention.装配等作业自动化，已越来越引起我们的重视。Machine hand is to imitate the manual part of the action, according to a given program, track 机械手
14、是模仿着人手的部分动作，按给定的程序、and requirements for automatic capture, handling or operation of the automatic mechanical 轨迹和要求实现自动抓取、搬运或操作的自动机械装置。devices.In real life, you will find this a problem. In the machine shop, the processing of parts loading 在现实生活中，你是否会发现这样一个问题：在机械工厂里，time is not annoying, and labor pr
15、oductivity is not high, the cost of production major, and 加工零件装料的时候是不是很麻烦的，劳动生产率不高，生产成本sometimes man-made incidents will occur, resulting in processing were injures. Think about what 大，有时候还会发生一些人为事故，导致加工者受伤。想想看could replace it with the processing time of a tour as long as there are a few people, and can 用什么可以代替呢，加工的时候只要有几个人巡视一下，operate 24 hours saturated human right? The answer is yes, but the machine hand can come to 且可以24小时饱和运作，人行吗? 回答是肯定的，但是机械式可以replace it.来代替它。Production of mechanical hand can increase the automation level of production and labor 生产中应用机械手可以提高生产的自动化水平和劳动生产率；
