基于plc的機械手系統(tǒng)設(shè)計外文文獻翻譯

1、畢業(yè)設(shè)計（論文）外文資料翻譯學生姓名:何友良學 號:專 業(yè):電氣工程及其自動化指導教師:謝富珍 副教授學 院:電氣與電子工程日 期:2016.02.16 外文資料翻譯要求一、 譯文內(nèi)容須與課題研究或調(diào)研內(nèi)容高度一致。二、 譯文翻譯得當、語句通順，不少于4000字。三、 譯文格式要求：譯文題目（即一級標題）采用小三黑體、二級標題采用四號黑體、三級標題采用13磅黑體；圖題和表題采用五號宋體，外文和符號采用五號Times New Roman；正文采用小四宋體，外文和符號采用小四Times New Roman，行間距為20磅；A4紙雙面打印。四、 原文及譯文一起裝訂，順序依次為封面（背面為外文資料翻譯

2、要求）、譯文評閱（單面打?。?、譯文、外文原文。譯文評閱評分：_（百分制） 指導教師（簽名）：_ 年 月 日譯文：機械手的發(fā)展與研究 隨著我國工業(yè)生產(chǎn)的飛躍發(fā)展，自動化程度的迅速提高，實現(xiàn)工件的裝卸、轉(zhuǎn)向、輸送或是操持焊槍、噴槍、扳手等工具進行加工、裝配等作業(yè)的自動化，應越來越引起人們的重視。 機械手是模仿著人手的部分動作，按給定程序、軌跡和要求實現(xiàn)自動抓取、搬運或操作的自動化裝置。在工業(yè)生產(chǎn)中應用的機械手被稱為“工業(yè)機械手”。生產(chǎn)中應用機械手可以提高生產(chǎn)的自動化水和勞動生產(chǎn)率；可以減輕勞動疲勞強度、保證產(chǎn)品質(zhì)量、實現(xiàn)安全生產(chǎn)；尤其在高溫、高壓、低溫、低壓、粉塵、易爆、有毒氣體和放射性等惡劣的環(huán)

3、境中，它代替人進行正常的工作，意義更為重大。因此，在機械加工、鑄、焊接、熱處理、電鍍噴漆、裝配以及輕工業(yè)、交通運輸業(yè)等方面得到越來越多廣泛應用。 機械手的結(jié)構(gòu)形式開始比較簡單，專業(yè)性較強，僅為某臺機床的上下料裝置，是附屬于該機床的專用機械手。隨著工業(yè)技術(shù)的發(fā)展，制成了能夠獨立的按程序控制實現(xiàn)重復操作，使用范圍比較廣的“程序控制通用機械手”，簡稱通用機械手。用于通用機械手很快的改變工作程序，適應性較強，所以他在不斷變換生產(chǎn)品種的中小批量生產(chǎn)中獲得廣泛應用。機械手是一種能自動化定位控制并可重新編程序以變動的多功能機器，它有多個自由度，可用來搬運物體以完成在各個不同環(huán)境中工作。在工資水平較低的中國，

4、塑料制品行業(yè)盡管仍屬于勞動力密集型，機械手的使用已經(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設(shè)在中國的工廠中引進了自動化生產(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機械手表現(xiàn)出越來越濃厚的興趣，因為他們要面對工人流失率高，以及為工人交工傷費帶來的挑戰(zhàn)。同時，機械手可以能夠借助軟件的編程，對不同的生產(chǎn)對象，完成不同的控制，提高了生產(chǎn)的效率。目前，在一些對人力要求較高的工業(yè)中，基本上都有使用機械手技術(shù)，用來減輕人力的需求和更好的控制，實現(xiàn)產(chǎn)業(yè)的最大化。一、機械手的組成機械手的形式是多種多樣的，有的較為簡單，有的較為復雜，但基本的組成形式是相同

5、的，一般由執(zhí)行機構(gòu)、傳動系統(tǒng)、控制系統(tǒng)和輔助裝置組成。1. 執(zhí)行機構(gòu) 機械手的執(zhí)行機構(gòu)，由手、手腕、手臂、支柱組成。手是抓取機構(gòu)，用來夾緊和松開工件，與人的手指相仿，能完成人手的類似動作。手腕是連接手指與手臂的元件，可以進行上下、左右和回轉(zhuǎn)動作。簡單的機械手可以沒有手腕。支柱用來支撐手臂，也可以根據(jù)需要做成移動。2. 傳動系統(tǒng) 執(zhí)行機構(gòu)的動作要由傳動系統(tǒng)來實現(xiàn)。常用機械手傳動系統(tǒng)分機械傳動、液壓傳動、氣壓傳動和電力傳動等幾種形式。3. 控制系統(tǒng) 機械手控制系統(tǒng)的主要作用是控制機械手按一定的程序、方向、位置、速度進行動作，簡單的機械手一般不設(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

6、便可實現(xiàn)動傳動系統(tǒng)的控制，使執(zhí)行機構(gòu)按要求進行動作動作復雜的機械手則要采用可編程控制器、微型計算機進行控制。二、機械手的分類和特點 機械手一般分為三類：第一類是不需要人工操作的通用機械手。它是一種獨立的不附屬于某一主機的裝置。它可以根據(jù)任務的需要編制程序，以完成各項規(guī)定的操作。它的特點是具備普通機械的性能之外，還具備通用機械、記憶智能的三元機械。第二類是需要人工才做的，稱為操作機。它起源于原子、軍事工業(yè)，先是通過操作機來完成特定的作業(yè)，后來發(fā)展到用無線電訊號操作機來進行探測月球等。工業(yè)中采用的鍛造操作機也屬于這一范疇。第三類是用專用機械手，主要附屬于自動機床或自動線上，用以解決機床上下料和工件

7、送。這種機械手在國外稱為“Mechanical Hand”，它是為主機服務的，由主機驅(qū)動；除少數(shù)以外，工作程序一般是固定的，因此是專用的。三、工業(yè)機械手的應用 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。近年來，隨著電子技術(shù)特別是電子計算機的廣泛應用，機器人的研制和生產(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大等特點，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。(1) 機床加工工

8、件的裝卸，特別是在自動化車床、組合機床上使用較為普遍。 (2) 在裝配作業(yè)中應用廣泛，在電子行業(yè)中它可以用來裝配印制電路板，在機械行業(yè)中它可 以用來組裝零部件。(3) 可在勞動條件差，單調(diào)重復易子疲勞的工作環(huán)境工作，以代替人的勞動。 (4) 可在危險場合下工作，如軍工品的裝卸、危險品及有害物的搬運等。(5) 宇宙及海洋的開發(fā)。(6) 軍事工程及生物醫(yī)學方面的研究和試驗。 應用機械手可以代替人從事單調(diào)重復或繁重的體力勞動，實現(xiàn)生產(chǎn)的機械化和自動化，代替人在有害環(huán)境下的手工操作，改善勞動條件，保證人身安全。20世紀40年代后期，美國在原子能實驗中，首先采用機械手搬運放射性材料，人在安全室操縱機械手

9、進行各種操作和實驗。50年代以后，機械手逐步推廣到工業(yè)生產(chǎn)部門，用于在高溫污染嚴重的地方取放工件和裝卸材料，也作為機床的輔助裝置在自動機床自動生產(chǎn)線和加工中心中應用，完成上下料或從刀庫中取放刀具并按固定程序更換刀具等操作。機械手主要由手部機構(gòu)和運動機構(gòu)組成。手部機構(gòu)隨使用場合和操作對象而不同，常見的有夾持托持和吸附等類型。運動機構(gòu)一般由液壓氣動電氣裝置驅(qū)動。機械手可獨立地實現(xiàn)伸縮旋轉(zhuǎn)和昇降等運動，一般有23個自由度。機械手廣泛用于機械制造冶金輕工和原子能等部門。 機械手是在自動化生產(chǎn)過程中使用的一種具有抓取和移動工件功能的自動化裝置，它是在機械化、自動化生產(chǎn)過程中發(fā)展起來的一種新型裝置。近年來

10、，隨著電子技術(shù)特別是電子計算機的廣泛應用，機器人的研制和生產(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。機械手能代替人類完成危險、重復枯燥的工作，減輕人類勞動強度，提高勞動生產(chǎn)力。機械手越來越廣泛的得到了應用，在機械行業(yè)中它可用于零部件組裝 ，加工工件的搬運、裝卸，特別是在自動化數(shù)控機床、組合機床上使用更普遍。目前，機械手已發(fā)展成為柔性制造系統(tǒng)FMS和柔性制造單元FMC中一個重要組成部分。把機床設(shè)備和機械手共同構(gòu)成一個柔性加工系統(tǒng)或柔性制造單元，它適應于中、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，而且適應性

11、很強。當工件變更時，柔性生產(chǎn)系統(tǒng)很容易改變，有利于企業(yè)不斷更新適銷對路的品種，提高產(chǎn)品質(zhì)量，更好地適應市場競爭的需要。而目前我國的工業(yè)機器人技術(shù)及其工程應用的水平和國外比還有一定的距離，應用規(guī)模和產(chǎn)業(yè)化水平低，機械手的研究和開發(fā)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。因此，進行機械手的研究設(shè)計是非常有意義的。四、機械手的發(fā)展趨勢目前工業(yè)機械手的應用逐步擴大，技術(shù)性能在不斷地提高。由于發(fā)展時間較短，人們對它有一個逐步認識的過程，機械手在技術(shù)上還有一個逐步完善的過程，其目前的發(fā)展趨勢是：1、擴大機械手再加工行業(yè)上的應用目前國內(nèi)機械手應用在機械工業(yè)冷加工作業(yè)中的較多，

12、而在鑄、鍛、焊、熱處理等熱加工以及裝配作業(yè)等方面的應用較少。因此加工作業(yè)的物件重、形狀復雜、環(huán)境溫度高等，給機械手的設(shè)計、制造帶來不少困難，這就需要解決技術(shù)上的難點，使機械手更好地為加工作業(yè)服務。同時，在其他行業(yè)和工業(yè)部門，也將隨著工業(yè)技術(shù)水平的不斷提高，而逐步擴大機械手的使用。2、 提高工行業(yè)機械手的工作性能機械手工作性能的優(yōu)劣，決定著它能否正常的應用與生產(chǎn)中，機械手工作性能中的重復定位精度和工作速度兩個指標，決定機械手能否保質(zhì)保量的完成操作的關(guān)鍵因素。因此要解決好機械手的工作平穩(wěn)性和快速性的要求，除了從解決緩沖定位措施入手外，還應發(fā)展?jié)M足機械手性能要求價廉的電液伺服閥，將伺服控制系統(tǒng)應用于

13、機械手上。3、 發(fā)展組合式機械手從機械手本身的特點來說，可變程序機械手更適應產(chǎn)品類型、設(shè)備更新、多品種小批量的要求，但是它的成本高，專用機械手價廉，但適用范圍又受到限制。因此，對一些特殊用途的場合，就需要專門設(shè)計、專門加工，這樣就提高了產(chǎn)品成本。為了適應應用領(lǐng)域分門別類的要求，可將機械手的結(jié)構(gòu)設(shè)計成可以組合的形式 。組合式機械手是將一些通用部件根據(jù)作業(yè)的要求，選擇必要的能完成預定機能的單元部件，以機座為基礎(chǔ)進行組合，配上與其相適應的控制部分，即成為能完成特殊要求的機械手。它可以簡化結(jié)構(gòu)，兼顧了使用上的專用性和設(shè)計上的通用性，更于標準化、系列化設(shè)計和組織專業(yè)化生產(chǎn)，有利于提高機械手的質(zhì)量和降低造

14、價，是一種有發(fā)展前途的機械手。4、研制具有“視覺”和“觸覺”的所謂“智能機器人”對于需要人工進行靈活操作及需要進行人工判斷的場合，工業(yè)機械手很難代替人的勞動。如在工作過程中出現(xiàn)事故、障礙和情況變化等，機械手不能自動分辨糾正，而只能停機，待人們排除意外事故后才能繼續(xù)工作。因此，人們對機械手提出了更高的要求，希望使其具有“視覺”、“觸覺”等功能，使之對物體進行判斷、選擇，能連續(xù)調(diào)節(jié)以適應變化的條件，并能進行“手眼”協(xié)調(diào)動作。這就需要一個能處理大量信息的計算機，要求人與機器“對話”進行信息交流。這種帶“視覺”、“觸覺”反饋的，由計算機控制的，具有人的部分“智能”的機械裝置稱為“智能機器人”。所謂“智

15、能”是包括：識別、學習、記憶、分析判斷的功能。而識別功能是通過“視覺”、“觸覺”和“聽覺”等感覺“器官”認識對象的。具有感覺功能的機器人，其工作性能是比較完善的，能夠準確地夾持任意方位的物體，判斷物體重量，越過障礙物進行工作，自動測出夾緊力大小，并能自動調(diào)節(jié)，適用于從事復雜、精密的操作，如裝配作業(yè)，它具有一定的發(fā)展前途。智能機器人是一種新興的技術(shù)，對它的研究將涉及到電子技術(shù)、控制論、通訊技術(shù)、電視技術(shù)、空間結(jié)構(gòu)和仿生機械學科。它是當代自動控制技術(shù)的一個新興的領(lǐng)域。隨著科學及的發(fā)展，智能機器人將會代替人做更多的工作。原文： The development and research robots

16、Along with our country the rapid development of industrial production, rapidly improve degree of automation, implementation artifacts of handling, steering, transmission or toil for welding gun, spray gun, spanner and other tools for processing, assembly operations such as automation, should cause t

17、he attention of people more and more. Manipulator is to imitate the people part of the action, according to a given program, track and demanding acquirement, handling or operation of the automatic device. Applied in the industrial production of the manipulator is referred to as industrial manipulato

18、r. Application manipulator can improve the automation of production water in production and labor productivity; Can reduce labor fatigue strength, to ensure product quality, implement safety production; Especially in high temperature and high pressure, low temperature, low pressure, dust, explosive,

19、 toxic and radioactive gases such as harsh environment, it instead of people normal work, the more significant. Therefore, in the machining, casting, welding, heat treatment, electroplating, spray painting, assembly, and light industry, transportation industry get more and more extensive application

20、, etc. Manipulator institutional form is simple, strong professionalism, only as a loading device for a machine tools, special-purpose manipulator is attached to this machine. Along with the development of industrial technology, produced independently according to the process control to achieve repe

21、titive operation, using range is wide program control general manipulator, hereinafter referred to as general manipulator. General manipulator used to quickly change the working procedure, adaptability is stronger, so he is in constant transformation in the medium and small batch production of produ

22、cts are widely used. Manipulator is a kind of can automatic positioning control and can change to programming with multifunctional machine, it has more degrees of freedom, can be used to move things to complete the work in different environments. In China the low level of wages, plastic products ind

23、ustry still belongs to the labor-intensive, the use of the manipulator has become more popular. The electronic and automobile industry in Europe and the United States multinational companies very early in their factories in China introduced automatic production. But now the change is the industrial

24、intensive distribution in south China, east Chinas coastal regions local plastic processing plant also began to manipulator show more and more interest, because they have to face high worker turnover rate, as as the challengewell s brought about by the workers pay inductrial injury fee.一、The composi

25、tion of the manipulator Manipulator is in the form of a variety of, some relatively simple, some more complex, but the basic form is the same, generally by the actuators, transmission system, control system and the auxiliary device. The actuator manipulator actuators, by the hand, wrist, arm, pillar

26、s. Hand is grasping mechanism, which is used to clamp and release artifacts, as a human finger, can complete staff of similar action. Is connected to the fingers and wrist arm components, can be up and down, left and right sides and rotary movement. Simple manipulator can not the wrist. Prop used to

27、 support the arm, can also according to need to make it move. The driving system movement of the actuator by the transmission system to achieve. Common mechanical transmission system of mechanical transmission, hydraulic transmission, pneumatic transmission and power transmission etc. Several forms.

28、 The control system of manipulator control system main function is to control the manipulator according to certain procedures, movement direction, position, speed, simple manipulator is generally not set special control system, only the stroke switch, relay, control valves and control circuit can re

29、alize dynamic transmission system, the executing agency action in accordance with requirements. Action complex manipulator should adopts the programmable controller, microcomputer control.二、classification and characteristics of the manipulator Robots generally fall into three categories the first is

30、 general manipulator doesnt need manual operation. It is a kind of independence is not attached to a host device. It can according to the need of the task program, the operation of the provisions to complete. It is with the characteristics of common mechanical performance, also has general machinery

31、, memory, intelligence of three yuan. The second is the need to do manually. Called Operating machine. It originated in the atom, military industry, first by Operating machine to complete a specific assignment, later to use radio signal Operating machine to explore the moon and so on. Used in the fo

32、rging industry Operating machine falls under this category. The third kind is to use special manipulator, mainly attached to automatic machine or automatic line, used to solve machine tool material and workpiece to send up and down. This manipulator in a foreign country is called the Mechanical Hand

33、, it is in the service of the host, driven by the host; Except a few working procedures generally is fixed, so it is special. 三、The application of industrial manipulator Manipulator is in the process of mechanization, automation production, developed a kind of new type of device. In recent years, wi

34、th electronic technology, especially the wide application of electronic computer, the robots development and production has become a high technology developed rapidly in the field of an emerging technology, it promoted the development of the manipulator, make the manipulator can achieve better with

35、the combination of mechanization and automation. Manipulator although it is not as flexible as manpower, but it can have repeated work and labor, do not know fatigue, is not afraid of danger, snatch heavy weights strength characteristics such as larger than man, as a result, the manipulator has been

36、 brought to the attention of the many departments, and have been applied more and more widely.(1) Machine tools machining the workpiece loading and unloading, especially in automatic lathe, use common combination machine tools.(2) Widely used in the assembly operation, it can be used to assemble pri

37、nted circuit board in the electronics industry, it can be in the machinery industry to assemble parts.(3) Can be in working conditions is poor, repetitive easy fatigue of the work environment, to instead of human Labour.(4) The development of the universe and the ocean.(5) Military engineering and b

38、iomedical research and test. Application of robots can replace people in dull, repetitive or heavy manual work, to realize mechanization and automation of production, instead of human in harmful environment of manual operation, improve labor condition, ensure the personal safety. In the late 1940 s,

39、 the United States in the nuclear experiments, firstly adopts manipulator handling radioactive materials, people in the security room to manipulate manipulator for various operation and experiment. After the 50 s, robots gradually extended to industrial production department, for use in high tempera

40、ture, serious pollution of local leave work pieces and the loading and unloading materials, as auxiliary device in the machine tool automatic machine, automatic production line and processing center in the application, complete the material up and down or from libraries take put the knives and repla

41、ce tool operations such as fixed procedure. Manipulator is mainly composed of hand and motion mechanism. Hand mechanism varies according to the usage situation and operation object, the common are holding, hold and the adsorption type etc. Motion mechanism usually driven by hydraulic, pneumatic, ele

42、ctric devices. Manipulator can be achieved independently of scaling, rotation and lifting movement, generally speaking, there are 2 3 degrees of freedom. Robots are widely used in machinery manufacturing, metallurgy, light industry and atomic energy etc. Manipulator is used in the production process

43、 automation with grab and move the workpiece is a kind of automatic device, it is in the process of mechanization, automation production, developed a new type of device. In recent years, with electronic technology, especially the wide application of electronic computer, the robots development and pr

44、oduction has become a high technology developed rapidly in the field of an emerging technology, it promoted the development of the manipulator, make the manipulator can achieve better with the combination of mechanization and automation. Robots can replace humans do dangerous, repeat the boring work

45、, reduce human labor intensity and improve labor productivity. Manipulator have been applied more and more widely, it can be used for parts assembled in the machinery industry, processing the workpiece handling, loading and unloading, especially on the automatic CNC machine, combination machine tool

46、s more common use. At present, the manipulator has developed into a flexible manufacturing system of FMS and flexible manufacturing cell is an important component of FMC. The machine tool equipment and manipulator of a flexible manufacturing system or flexible manufacturing unit, it is suitable for

47、medium and small batch production, can save a large workpiece delivery device, structure is compact, but also has a strong adaptability. When the workpiece changes, flexible production system is easy to change, is advantageous to the enterprise continuously updated marketable varieties, improve prod

48、uct quality, better adapt to the needs of the market competition. But at present our countrys industrial robot technology and its engineering application level and foreign than there is a certain distance, scale and industrialization level is low, research and development of the manipulator has dire

49、ct influence on raising the automation level of production in our country, from the consideration on the economic and technology is very necessary. Therefore, carries on the research design of the manipulator is very meaningful.四、The development trend of manipulator Current industrial applications o

50、f the manipulator gradually expanding, constantly improve the technology performance. Due to the short development time, it has a gradual understanding of process, the manipulator and a technically perfect step by step process, its development trend is:To expand the application of manipulator and pr

51、ocessing industry At present domestic robots used in mechanical industry more in cold working operations, while in the hot work such as casting, forging, welding, heat treatment less, and the application of assembly work, etc. So processing work items heavy, complicated shape and high environmental

52、temperature, bring many difficulties to manipulator design, manufacture, it is need to solve the technical difficulties, make the manipulator to better service for processing work. At the same time, in other industries and industrial sectors, also will with the constant improvement of the industrial

53、 technology level, and gradually expand the use of the manipulatorImprove the work performance of the industry manipulator Manipulator in the working performance of the pros and cons, determines the application and production, it can normal manipulator working performance of the repetitive positioni

54、ng accuracy and speed of work two indicators, decided to ensure the quality of manipulator can complete the operation of the key factors. Therefore to solve good working stability and rapidity of the manipulators request, besides from solve buffer localization measures, should also be development me

55、et the requirements of mechanical properties and low price of electro-hydraulic servo valve, servo control system was applied to the mechanical hand.Development of modular robots Variable application manipulator from the characteristics of the manipulator itself, more adapted to the product type, eq

56、uipment updates, many varieties, small batch, but its cost is high, the special manipulator and cheap, but the scope is limited. Therefore, for some special purpose, you need special design, special processing, thus improving the product cost. In order to adapt to the request of the application fiel

57、d of classify, the structure of the manipulator can be designed to the form of combination. Modular manipulator is a common parts according to the requirement of the job, select necessary to accomplish the function of the unit components, based on the base of combination, deserve to go up with adapt

58、ive control part, namely the manipulator with special requirements can be completed. It can simplify the structure, take into account the specificity and design on the use of generality, more in the series design and organization of standardization, specialized production, to improve quality and redu