尛尛尛舒
Along with our country to improve the level of industrialization, nc machine tools used more common. But in the nc machining process of common up-down material still use manual operation, usually or traditional relay control half automation devices. The former drilling wastes time workers, low efficiency, The latter is more complex, the need for design, wiring multifarious, relays, collector vibration and poor reliability and failure many difficulties and problems. Therefore, this paper designs a feasible manipulator realization of CNC lathe autotransmitting. To solve the problems of design, the robot manipulator hand in hand is the most important actuators, according to the principle of holding hands gripping and can be divided into two categories of adsorption. Besides the common are holding clamp type, type of hook type and spring ", Cooperate with CNC robot manipulator, in the final analysis, the design of the ultimate purpose is to make more efficiency and CNC processing. Among the coordination with the machine movement manipulator is key, The design of manipulator, the fixed bracket installed in a certain height manipulator, the requirement on the stent with enough stiffness and strength, ensure no deformation. So the main contents of this topic design including the following aspects: (1), modular design of mechanical structure of the manipulator. (2), electric drive mode design. (3), fixed support structure design.
L1ttleJuan
With horizontal ceaseless our country industrialization rise, numerical control machine tool application is more and more common. But common high and low of numerical control treating middle material working procedure, adopt the semi-automatization device that hand operation or the tradition relay controls generally still. That the former is time-consuming is take a lot of work , inefficient; The latter complicated , needs more relay , works a telephone switchboard complicatedly because of design, easy to accept car body vibration disturbance, but existence reliability difference , malfunction problem such as many , keeping difficulty in repair. Therefore the main body of a book the automation high and low who considers the numerically controlled lathe designing that one kind of feasible machine hand comes true expects that. Need the primal problem solving: Machine hand hand part design, the machine hand hand part is the most important actuating mechanism , the hand part in common use holds the two major kinds holding principle being able to be to clamp a kind mark and adsorbing a kind according to the person. The clip hold resembles besides the hand part gets rid of pliers in common use style , still has support shorter leg style and spring style; Machine hand speaks through with numerical control machine tool composition, ultimate the machine hand design purpose is that efficiency draws especially reliably for using numerical control machine tool treating. Machine hand among them and machine tool action coordination are key; Machine hand fixes the holder design , entire machine hand assembles on certain altitude holder, this requires that the holder has sufficient stiffness and intensity , swear not to become deformed. Therefore the problem main part designs content include several the following aspect: (1), modularize the machine hand machinery physical design. (2), electric drive way design. (3), fixes holder physical design.
小仙姓朱
Rise , numerical control machine tool application are more and more common with horizontal our country industrialization ceaselessness. But, in numerical control treating, common high and low expects that working procedure, adopt the semi-automatization device that hand operation or the tradition relay controls generally still. That the former is time-consuming is take a lot of work , inefficient; The latter complicated , needs more relay , works a telephone switchboard complicatedly because of design, easy to accept car body vibration disturbance, but existence reliability difference , malfunction problem such as many , keeping difficulty in repair. Therefore the main body of a book the automation high and low who considers the numerically controlled lathe designing that one kind of feasible machine hand comes true expects that. Need the primal problem solving: Machine hand hand part design, the machine hand hand part is the most important actuating mechanism , the hand part in common use holds the two major kinds holding principle being able to be to clamp a kind mark and adsorbing a kind according to the person. The clip hold resembles besides the hand part gets rid of pliers in common use style , still has support shorter leg style and spring style; Machine hand speaks through with numerical control machine tool composition, ultimate the machine hand design purpose is that efficiency draws especially reliably for using numerical control machine tool treating. Machine hand among them and machine tool action coordination are key; Machine hand fixes the holder design , entire machine hand assembles on certain altitude holder, this requires that the holder has sufficient stiffness and intensity , swear not to become deformed. Therefore the problem main part designs content include several the following aspect: (1), modularize the machine hand machinery physical design. (2), electric drive way design. (3), fixes holder physical design.
泸州老叫
mechanical hand, is also called from begins, auto hand can imitate the manpower and arm's certain holding function, with by presses the fixed routine to capture, the transporting thing 'OR' operation tool's automatic operation installment. It may replace person's strenuous labor to realize the production mechanization and the automation, can operate under the hostile environment protects the personal safety, thus widely applies in departments and so on machine manufacture, metallurgy, electron, light industry and atomic energy. the manipulator is mainly composed of the hand and the motion. The hand is uses for to grasp holds the work piece (or tool) the part, according to is grasped holds the thing shape, the size, the weight, the material and the work request has many kinds of structural styles, like the clamp, the request hold and the adsorption and so on. The motion, causes the hand to complete each kind of rotation (swinging), the migration or the compound motion realizes the stipulation movement, changes is grasped holds the thing position and the posture. Motion's fluctuation, the expansion, revolving and so on independence movement way, is called manipulator's degree-of-freedom. In order to capture in the space the optional position and the position object, must have 6 degrees-of-freedom. The degree-of-freedom is the key parameter which the manipulator designs. The degree-of-freedom are more, manipulator's flexibility is bigger, the versatility is broader, its structure is also more complex. Generally the special-purpose manipulator has 2~3 degrees-of-freedom. the manipulator's type, may divide into the hydraulic pressure type, the air operated according to the drive type, electromotive type, the mechanical manipulator; May divide into the special-purpose manipulator and the general-purpose manipulator two kinds according to the applicable scope; May divide into the position control and the continuous path according to the path control mode controls the manipulator and so on. the manipulator usually serves as the engine bed or other machine's add-on component, like on the automatic machine or the automatic production line loading and unloading and the transmission work piece, replaces the cutting tool in the machining center and so on, generally does not have the independent control device. Some operating equipment needs by the person direct control, if uses in the host who the atomic energy department manages the dangerous goods from the type operator also often being called the manipulator. 能模仿人手和臂的某些动作功能，用以按固定程序抓取、搬运物件或操作工具的自动操作装置。它可代替人的繁重劳动以实现生产的机械化和自动化，能在有害环境下操作以保护人身安全，因而广泛应用于机械制造、冶金、电子、轻工和原子能等部门。 机械手主要由手部和运动机构组成。手部是用来抓持工件（或工具）的部件，根据被抓持物件的形状、尺寸、重量、材料和作业要求而有多种结构形式，如夹持型、托持型和吸附型等。运动机构，使手部完成各种转动（摆动）、移动或复合运动来实现规定的动作，改变被抓持物件的位置和姿势。运动机构的升降、伸缩、旋转等独立运动方式，称为机械手的自由度 。为了抓取空间中任意位置和方位的物体，需有6个自由度。自由度是机 械手设计的关 键参数。自由 度越多，机械手的灵活性越大，通用性越广，其结构也越复杂。一般专用机械手有2～3个自由度。 机械手的种类，按驱动方式可分为液压式、气动式、电动式、机械式机械手；按适用范围可分为专用机械手和通用机械手两种；按运动轨迹控制方式可分为点位控制和连续轨迹控制机械手等。 机械手通常用作机床或其他机器的附加装置，如在自动机床或自动生产线上装卸和传递工件，在加工中心中更换刀具等，一般没有独立的控制装置。有些操作装置需要由人直接操纵，如用于原子能部门操持危险物品的主从式操作手也常称为机械手。
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