機(jī)械手的總體方案設(shè)計(jì)

1、good" lea dershi p constr ucti on, full play levelscadres i n enter prise development in t heWewillcontinue toimprovethe compa ny's inter nalcontrol system,and steady improvement in a bility tomanag e and control, optimizebusi ness processes,toe nsuresmooth pr ocesses, re sponsibilitie s in

2、 place ;to further strengthe n inter nal control s,play acontr olpostindepe nde ntoversig htrole ofevaluation com plyingwit h third-party responsi bility; to a ctively make use of internala udit tools detect potentialma nagement,streamli ne,sta ndar dize relatedtra nsactions,strengt hening operation

3、s inaccordance wit h law.Dee pening the i nformation ma nagementtoe nsurefullcommunication "zero resistance".o constantly perfect ERP ,and BFS+, andPI,a nd MIS,andSCM,i nformation system basedconstr uction,fulli ntegrationi nformation sy stem, achi eved informati on resour ces shared; to e

4、xpand Portal systemapplicationofbreadthand depth,play informationsystem on ent erprise ofAssistant rol e;to perfectdai ly run mainte na nce operati onofrecords,prom ote problemreasonsanalysisand systemhandover;to strengtheni ng BFS+,a nd ERP,and SCM, te chnol ogyapplication oftraining,improve employ

5、ee s applicati on information systemofcapa cityand level. Humanisti ccare to ensure "zero."Tostrengthening Huma nities care ,continues tofostercompanywind clear,a nd g as are, andheartShunofcult ure atmospherestrengtheni ng lovehelpe d trappe d, caredifficult em ployee s; carrie doutstyle

6、activitie s, richempl oyees life;stre ngtheninghealth a nd la bourprote ction, organi zation career health medical, controlcare er against; continuesto impl ementation psy chologicalwarni ng preve ntion system,training employee shealt hofcharacter,a nd stable of mood a nd e nterpri singofattitude,cr

7、eate d friendlyfraternityof Humanitiesenvironment. ostre ngthe n riskmanageme nt,ensure that thebusiness of"zero risk". To strengthened busine ss pl ansma nagement, will busine ss busi ness planscoverto alllevel,ensurethebusinessca ncontrol i ncontrol;t o close concer n financial,and coale

8、le ctric li nkage, andenergy-savi ng scheduling , national policy tre nds,strengtheni ngtrack, active shoul d;to impleme ntation State-ow ned assets met hod,furtherspe cification busine ss fina ncial ma nagement;t o perfectriskt ube control system,achieve d risk recogniti on,a nd measure,a nd assess

9、me nt,and report,and controlfeedba ck ofclosed ri ng management , improve risk preventi on ca pacity.o furtherstandar dizetradi ng,and strivetoachieve "accordingto la w,sta ndardizeand fair." Innovation ofperformancema nagement,toe nsure that potentialemployees "zero fly".T o str

10、engt hen performance management, process control,e nha nceemploye e evaluati on and level sofeffectivecommunication toim proveperforma nce ma nagement. ofurtherquantifyand refineemployee standards.Work,fullplayparty, a nd bra nch,and members in "five type Enterpri se" construction n the of

11、core rol e,and fightingfortressroleandpi oneermodelr ole; to continues to stre ngthening"four第 1章機(jī)械手的總體方案設(shè)計(jì)1.1 機(jī)械手的傳動(dòng)方案設(shè)計(jì)按機(jī)械手手臂的不同形式及組合情況其活動(dòng)范圍也是不同的，基本上可以分為四種運(yùn)動(dòng)形式：直角坐標(biāo)式、圓柱坐標(biāo)式、球坐標(biāo)式、關(guān)節(jié)坐標(biāo)式。根據(jù)工作要求可選擇直角坐標(biāo)式，具體設(shè)計(jì)成懸掛式。其優(yōu)點(diǎn)為：（ 1）多臂懸掛式的機(jī)械手對(duì)剛性聯(lián)結(jié)的自動(dòng)生產(chǎn)線非常實(shí)用，可以在各工位間傳遞工件，各臂均懸掛在生產(chǎn)線上方的橫梁上，臂間距離和工位距離相等，手臂可同步地沿橫梁平移一

12、個(gè)工位間距，把工件從一個(gè)工位移動(dòng)到下一個(gè)工位，可以減少隨行夾具和其他裝置，提高自動(dòng)化程度。（2）懸掛式機(jī)械手占地面積小，能有效的利用空間。（3）懸掛式機(jī)械手結(jié)構(gòu)簡(jiǎn)單，成本底。該凸輪軸加工自動(dòng)線上的送料機(jī)械手采用液壓驅(qū)動(dòng)， PLC控制，其中采取液壓驅(qū)動(dòng)有以下優(yōu)點(diǎn)：（1）壓力高，可實(shí)現(xiàn)較大的驅(qū)動(dòng)力，且機(jī)構(gòu)可以做的輕小，緊湊。（2）可實(shí)現(xiàn)無級(jí)變速，定位精度高，系統(tǒng)固有頻率小，壓力、容量調(diào)節(jié)容易。1.1 3）重量小，慣性小，可以做到快速的變速和換向，控制容易，動(dòng)作平穩(wěn)，滯后小。1.2 主要技術(shù)參數(shù)的確定機(jī)械手的主要技術(shù)參數(shù)包括抓重、自由度、定位精度、重復(fù)定位精度、工作范圍、最大速度及承載能力。主要參數(shù)

13、如下：抓重：3kg自由度：3 個(gè)工作范圍：前后移動(dòng)：1800mm上下升降：350mm橫移： 50mm驅(qū)動(dòng)方式：液壓驅(qū)動(dòng)fback boneba ckbone role; t ofull stre ngthening membersyouthwork,fullplayyout hempl oyeesi n company developmenti n the offorcerol e; to im provei nde pendent Commissionagainst corruptionw ork level,stre ngthe ning on e nterprise businesske

14、yli nk ofeffectivene ssmonitore d. ,A nd ma intainsta bility. To furt herstre ngthe n publi cityand educati on,im prove theoveralllegalsystem.We muststrengthensafetymanagement,establish andimprov ethe e ducation,supervi sion,and evalu ation as oneoft he traffic safety management mechanism.oconscient

15、i ously sumupthe Olympic securitycontrol s,pr omoting i ntegratedmanagementto a higherl evel, hig hersta ndar ds,a higherl evelofdev elopment.Empl oyees,todayi s lunarcal endaronDe cember24,theox Bellis a bouttoring ,atthis time ofyear,weclearlyfeelt hepulse ofthe XX pow ergenerati oncompa nyto flou

16、rish,tomoreclearly hearXX powerge neration compa nies mature and symmetrybreathi ng. Recalli ng past oneanother acrossa raili ng, weare e nthusiastica ndfull ofconfidence. F uturedevelopmentopportunities,we moreexciting fightmorespirited.Employees,let us togetheracross2013 fullofchalle ngesand oppor

17、tuniti es,to create agreen,l ow-cost operati on,full of humane careof aworld-cla ss powerge neration companyand w ork hard!T heoccasi on oftheSpri ng Festival,mysincerewish thatyou a ndthe familiesofthe staffin thenewyear,good healt h,ha ppy,ha ppyWel -L-th cs - e a c - syse saive -I- ag a - urss. s

18、ucss .l.tofurt -e gt -t l- cst - deesg l elato-.i - es r ； - ilkseer lu - tol.e eiage stealetaae e aatstre.e get -d. ie e -g -gemetou l cL- e es-t-e - ea s a-. - a Msr c l eg r-foa-s tec ev- - esese - - xaPrtlsem.w- e-ept - - tst e 、ae -c .- atea- -te e -ryrye ae-egg BFe mga- -g-v ele .la- syec -ael

19、 Hu a -cet u e-egte g Hu -e a c-e-se c a -，.a a e a u e a s esegte g ll-a - a -”ly a- u sl-s cee-et gt -.l.ataeea- -l c c eg-ea-clg-c agev - se a g emy al -aaetle -g-ue c a-el-re-e - etg -kageesett tses e-k ste gs- ss a gee lu- s-e a - leuu>ec ccse -a - 1 ! 一 - . . 一 . . 一 . 1 一 1 1 _ _ -控制方式PLC控

20、制緩沖方式節(jié)流回路1.3 機(jī)械手的配置和工作原理圖一上下料機(jī)械手簡(jiǎn)圖該加工自動(dòng)線上有五只送料機(jī)械手，它們的結(jié)構(gòu)完全相同，均能作前后移動(dòng)、上下升降和橫移運(yùn)動(dòng)。（上下料機(jī)械手簡(jiǎn)圖如圖一）前后移動(dòng)、升降和橫移 運(yùn)動(dòng)是各自的伸縮油缸帶動(dòng)的，自動(dòng)線的各工序按照加工順序（從左向右）依次 排列的。如圖二所示：Wel -L-th cs - e a c - syse saive -I- ag a - urss. sucss .l.tofurt -e gt -t l- cst - deesg l elato-. - es r ； - ilkseer lu - tol.e eiage stealetaae e aa

21、tstre.e get -d. ie e -g -gemetou l cL- e es-t-e - ea s a-. - a Msr c l eg r-foa-s tec ev- - esese - - xaPrtlsem.w-e-ept - - tst e 、ae -c .- atea- -te e -ryrye ae-egg BFe mga- -g-v ele .la- syec -ael Hu a -cet u e-egte g Hu -e a c-e-se c a -，.a a e a u e a s esegte g ll-a - a -”ly a- u sl-s cee-et gt

22、 -.l.ataeea- -l c c eg-ea-clg-c agev - se a g emy al -aaetle -g-ue c a-el-re-e - etg -kageesett tses e-k ste gs- ss a gee lu- s-e a - leuu>ec ccse -a -l kge eeg s-g scelg a-l -.segte g - ak-v s-e ae as- -u-e sc-t- s- s- agee-c-k u c - sea-v eg-eueasesae - a-kle g agee- v-kc a-yu-e sa. -e-a g a-v

23、- a-v - _-gl st a-e aa-c geeu- e-eyeelste ge-mac gecs-elevu- ael ee-c ca-e-c ag-e - a- ae-e saa.Wkl l-tyc ae "Ee- se c suc-o- c e e fg-g-esl ae le -c-e -la lecdee.s .一圖二 凸輪軸自動(dòng)線機(jī)械手配置圖該送料機(jī)械手的動(dòng)作順序?yàn)椋涸灰灰幌陆担ㄗチ希┮灰幌蜃髾M移一一上升-向后橫移一一下降一一向右橫移（放料）一一上升一一向后橫移一一原位第2章上下料機(jī)械手的機(jī)械結(jié)構(gòu)設(shè)計(jì)2.1 上下料機(jī)械手的總體結(jié)構(gòu)上下料機(jī)械手由幾個(gè)主要組成部分：

24、（1）前后行走機(jī)構(gòu)（帶滾輪的三角形支 架）；（2）橫移油缸及其滾輪機(jī)構(gòu)；（3）升降油缸；（4）手部支撐板；（5）機(jī)械-back bone ba ckone-e t oul ste nghen-g membes youth -I -k -ul play yout """一- ncmpay . lpmet - n the o- - -e -ol e tm p-ove-n- pen.et "-.（- “np-n - o-k e , se nghe n-g on e ntep b-s key l I k o- -ec-ene ss ”- . , A n. ma

25、-an sta b-l-y. Tou- he se nghe n publ c-y a. e_cal on, m p-le te ooe-l、-. We , sengtheey llalaement, _tabls a. mp-v e the e c-on, .,- s-n, an. u a-n a one o- t he -c saety manaet mechan-.，”，- ou up the pc u ccnt-ol s, p- omot-g - n、a- mang-e nt to a hge l eve, hg he sa n.a.s a h-ge l l o- Lev eopmet

26、 ,pl oyes - -，- s lua cal en.a on Ie be 24, the ox “l(fā) s a bou t-g , at th-s tae o- yea, -e clelaly -ee t he pulse o- the XX po- e |ene>ai on ccmpa ny to -lus,-mo-e hXX po-e . nea-on ccmpa n matue a n. .mme. b " ng Recalng p- oneaothe- acoss a al ng a-e e nthustc a n. -ul o- cn-dence F .u-e .

27、eelpmet oppo-un-es mo-e ec-tng -ght mo-e sp-ieEmplooees e us - gehe acoss 2013 ul o- chle ngs a. oppo-tu-t es to ciate a g-ee, l o-cs opea- on, ull o- humane cae o- a o-l.ca - po-e ge neat-n cmpay an. - o-k ha.! T he ocas on o- the Sp- I g les-va, my sncee-s that yu a n. the -»-les o- the sa- -

28、n the ne - a, goo. h-lh, happy, ha ppygood" lea dershi p constr ucti on, full play levelscadres i n enter prise development in t heWewillcontinue toimprovethe compa ny's inter nalcontrol system,and steady improvement in a bility tomanag e and control, optimizebusi ness processes,toe nsuresm

29、ooth pr ocesses, re sponsibilitie s in place ;to further strengthe n inter nal control s,play acontr olpostindepe nde ntoversig htrole ofevaluation com plyingwit h third-party responsi bility; to a ctively make use of internala udit tools detect potentialma nagement,streamli ne,sta ndar dize related

30、tra nsactions,strengt hening operations inaccordance wit h law.Dee pening the i nformation ma nagementtoe nsurefullcommunication "zero resistance".o constantly perfect ERP ,and BFS+, andPI,a nd MIS,andSCM,i nformation system basedconstr uction,fulli ntegrationi nformation sy stem, achi eve

31、d informati on resour ces shared; to expand Portal systemapplicationofbreadtha nd depth,play informationsystem on ent erprise ofAssistant rol e;to perfectdai ly run mainte na nce operati onofrecords,pr om ote problemreasonsanalysi sand systemhandover;to strengtheni ng BFS+,a nd ERP,and SCM, te chnol

32、 ogyapplication oftraining,improve employee s applicati on information systemofcapa cityand level. Humanisti ccare to ensure "zero."Tostrengthening Huma nities care ,continues tofostercompanywind clear,a nd g as are, andheartShunofcult ure atmospherestrengtheni ng lovehelpe d trappe d, car

33、edifficult em ployee s; carrie doutstyle activitie s, richempl oyees life;stre ngthe ninghealth a nd la bour prote ction, organi zation career health medical, controlcare er against; continuesto impl ementation psy chologicalwarni ng preve ntion system,training employee shealt hofcharacter,a nd stab

34、le of mood a nd e nterpri singofattitude,create d friendlyfraternityof Humanitiesenvironment. ostre ngthe n riskmanageme nt,ensure that thebusiness of"zero risk". To strengthened busine ss pl ansma nagement, will busine ss busi ness planscoverto alllevel,ensurethebusinessca ncontrol i ncon

35、trol;t o close concer n finan cial,and coalele ctric li nkage, andenergy-savi ng scheduling , national policy tre nds,strengtheni ngtrack, active shoul d;to impleme ntation State-ow ned assets met hod,furtherspe cification busine ss fina ncial ma nagement;t o perfectriskt ube control system,achieve

36、d risk recogniti on,a nd measure,a nd assessme nt,and report,and controlfeedba ck ofclosed ri ng management , improve risk preventi on ca pacity.o furtherstandar dizetradi ng,and strivetoachieve "accordingto la w,sta ndardizeand fair." Innovation ofperformancema nagement,toe nsure that pot

37、entialemployees "zero fly".T o strengt hen performance management,process control,e nha nceemploye e evaluati on and level sofeffectivecommunication toim proveperforma nce ma nagement. ofurtherquantifyand refineemployee standards.Work,fullplayparty, a nd bra nch,and members in "five t

38、ype Enterpri se" constructioni n the ofcore rol e,and fightingfortressroleandpi oneermodelr ole; to continues to stre ngthening"four手手部（兩個(gè)夾持式手部）。送料機(jī)的升降油缸和橫移油缸用螺栓聯(lián)接，橫移油缸上帶有四個(gè)滾輪，它們被支撐在滾道上，滾道通過一個(gè)聯(lián)接板固定安裝在前后行走機(jī)構(gòu)上，從而使兩部分結(jié)合起來。前后行走機(jī)構(gòu)安裝在橫梁上，它由 6 個(gè)滾輪和三角形支架，其滾輪安裝在懸掛支架橫梁的滾道上，使機(jī)械手成懸掛式。前后行走機(jī)構(gòu)三角形支架與拉桿用螺紋

39、聯(lián)接成一體，當(dāng)機(jī)械手工作時(shí)由前后移動(dòng)油缸的活塞桿，通過支架和拉桿（兩桿固定聯(lián)接）從而帶動(dòng)五只送料機(jī)械手的前后行走機(jī)構(gòu)，同步的實(shí)現(xiàn)各工序間的前后移動(dòng)，其行程為1800mm.。送料機(jī)械手的升降和橫移運(yùn)動(dòng)是由其升降油缸和橫移油缸來實(shí)現(xiàn)的，以便將工件送到機(jī)床的頂尖處，在升降油缸活塞桿的端部固定安裝著手部支撐板，支撐板上裝有兩對(duì)齒輪齒條式手部及齒輪齒條式定位手部，從而保證將工件夾緊且定位。2.2 上下料機(jī)械手的手部設(shè)計(jì)手部機(jī)構(gòu)是機(jī)械手直接用于抓取和握緊（或吸附）或夾持專用工具進(jìn)行操作的部件，它具有模仿人手動(dòng)作的功能，并安裝于機(jī)械手前端。根據(jù)所要夾持的工件，選用鉗爪式手部，其選用時(shí)應(yīng)考慮：1. 應(yīng)具有足夠

40、的的夾緊力機(jī)械手的手部機(jī)構(gòu)靠鉗爪夾緊工件后便把工件從一個(gè)位置移動(dòng)到另一個(gè)位置， 由于工件本身的重量以及移動(dòng)過程中產(chǎn)生的慣性和振動(dòng)等，鉗爪必須有足夠大的夾緊力才能防止工件在移動(dòng)過程中脫落，一般要求夾緊力N 為工件重量的2-3 倍。手部夾緊力的計(jì)算：手指對(duì)工件的夾緊力可按公式計(jì)算：Fn>KiK2K3G式中 K1一安全系數(shù)，通常取1.22.0;K2工作情況系數(shù)，主要考慮慣性力的影響。K2可近似按下式估算：K2=1+a/g,a=Vmax/t響K3方位系數(shù)，根據(jù)手指與工件形狀以及手指與工件位置不同進(jìn)行選定。按表選取fback boneba ckbone role; t ofull stre ngt

41、hening membersyouthwork,fullplayyout hempl oyeesi n company developmenti n the offorcerol e; to im provei nde pendent Commissionagainst corruptionw ork level,stre ngthe ning on e nterprise businesskeyli nk ofeffectivene ssmonitore d. ,A nd ma intainsta bility. To furt herstre ngthe n publi cityand e

42、ducati on,im prove theoveralllegalsystem.We muststrengthensafetymanagement,establish andimprov ethe e ducation,supervi sion,and evalu ation as oneoft he traffic safety management mechanism.oconscienti ously sumupthe Olympic securitycontrol s,pr omoting i ntegratedmanagementto a higherl evel, hig her

43、sta ndar ds,a higherl evelofdev elopment.Empl oyees,todayi s lunarcal endaronDe cember24,theox Bellis a bouttoring ,atthis time ofyear,weclearlyfeelt hepulse ofthe XX pow ergenerati oncompa nyto flourish,tomoreclearly hearXX powerge neration compa nies mature and symmetrybreathi ng. Recalli ng past

44、oneanother acrossa raili ng, weare e nthusiastica ndfull ofconfidence. F uturedevelopmentopportunities,we moreexciting fightmorespirited.Employees,let us togetheracross2013 fullofchalle ngesand opportuniti es,to create agreen,l ow-cost operati on,full of humane careof aworld-cla ss powerge neration

45、companyand w ork hard!T heoccasi on oftheSpri ng Festival,mysincerewish thatyou a ndthe familiesofthe staffin thenewyear,good healt h,ha ppy,ha ppyWewillcontinue toimprovethe compa ny's inter nalcontrol system,and steady improvement in a bility tomanag e and control, optimizebusi ness processes,

46、toe nsuresmooth pr ocesses, re sponsibilitie s in place ;to further strengthe n inter nal control s,play acontr olpostindepe nde ntoversig htrole ofevaluation com plyingwit h third-party responsi bility; to a ctively make use of internala udit tools detect potentialma nagement,streamli ne,sta ndar d

47、ize relatedtra nsactions,strengt hening operations inaccordancewith law.Dee pening the i nformation ma nagementtoe nsurefullcommunication "zero resistance".oconstantly perfect ERP ,and BFS+, andPI,a nd MIS,andSCM,i nformation system basedconstr uction,fulli ntegrationi nformation sy stem,

48、achi eved informati on resources shared; to expand Portal systemapplicationofbreadthand depth,play informationsystemonenterpriseofAssistantrole;toperfectdai ly run maintena nce operati onofrecords,prom ote problemreasonsanalysisand systemhandover;to strengtheni ng BFS+,a nd ERP,and SCM, te chnol ogy

49、application oftraining, improve employee s applicati on information systemofcapa cityand level. Humanisti ccare to ensure "zero."Tostrengtheni ng Huma nities care ,continues tofostercompanywindclear,and g as are, andheartShunofcult ure atmospherestrengtheninglovehelped trappe d, carediffic

50、ult em ployee s; carrie doutstyle activitie s, richempl oyees life;stre ngthe ninghealth a nd la bour prote ction, organi zation career health medical, controlcare er against; continuesto impl ementation psychologicalwarni ng preve ntion system,training employeeshealthofcharacter,a nd stable of mood

51、 a nd e nterpri singofattitude,create d friendlyfraternityof Humanitiesenvironment. ostre ngthe nriskmanageme nt,ensure that thebusiness of"zero risk". To strengthene d busine ss pl ansma nagement, will busine ss busi ness planscoverto alllevel,ensurethebusinessca ncontrol i ncontrol;t o c

52、lose concer n financial,and coalele ctric li nkage, andenergy-savi ng scheduling , national policy tre nds,strengtheni ngtrack, active shoul d;to impleme ntation State-ow ned assets met hod,furtherspe cification busine ss fina ncial ma nagement;t o perfectriskt ube control system,achieve d risk reco

53、gniti on,a nd measure,a nd assessme nt,and report,and controlfeedback ofclosed ri ng management , improve risk preventi on ca pacity.o furtherstandar dizetradi ng,and strivetoachieve "accordingto la w,sta ndardizeand fair." Innovation ofperformancema nagement,toe nsure that potentialemploy

54、ees "zero fly".T o strengt hen performance management,process control,e nha nceemploye e evaluati on and level sofeffectivecommunication toim proveperforma nce ma nagement. ofurtherquantifyand refineempl oyee standards.Work,fullplayparty, a nd bra nch,and members i n "five type Enterp

55、ri se" constructioni n the ofcore rol e,and fightingfortressroleandpi oneermodelr ole; to continues to stre ngthening"fourG被抓取工件所受重力（N）這里 K1=1.8K2=l+a/g=1+200 10（-3）/9.8 0.1=1.2K3=1G=3X 9.8NFn=1.8 1.2 1M>9.8N=63.5N驅(qū)動(dòng)力為F,由FN=R< F/2b,其中R為扇形齒輪的半徑，這里 R=18 mm, b=100 mm貝UF=2bFN/R=2 M00 >

56、;63.5/18 N=705.6 N2. 應(yīng)具有足夠的張開角鉗爪為了抓取和松開工件，必須具有足夠大的張開角度來適應(yīng)較大的直徑范圍，而且夾持工件的中心位置變化要?。炊ㄎ徽`差要小），對(duì)于移動(dòng)式鉗爪要有足夠大的移動(dòng)范圍。3. 應(yīng)能保證工件的可靠定位為了使鉗爪和被夾持的工件保持準(zhǔn)確的相對(duì)位置，必須根據(jù)被抓取的工件的形狀，選用相應(yīng)的鉗爪形狀來定位。4. 應(yīng)具有足夠的強(qiáng)度和剛度鉗爪除受到被夾持工件的反作用外，還受到機(jī)器人手部在運(yùn)動(dòng)過程中產(chǎn)生的慣性力和振動(dòng)的影響，若沒有足夠的強(qiáng)度和剛度則會(huì)發(fā)生折斷或彎曲變形，因此對(duì)于受力較大的鉗爪應(yīng)進(jìn)行必要的強(qiáng)度和剛度計(jì)算。5. 應(yīng)適應(yīng)被抓取對(duì)象的要求適應(yīng)工作的形狀：工件

57、的形狀為圓柱形，可采用帶“V型鉗口的手爪：工件為圓柱狀，可選用圓弧形二指或三指爪，對(duì)于特殊形狀的工件應(yīng)設(shè)計(jì)與工件相適應(yīng)的手爪。適應(yīng)工件被抓取部位的尺寸：工件被抓取部位的尺寸可能是不變的，若加工尺寸略有變化，那么鉗爪應(yīng)能適應(yīng)尺寸變化的要求。工件表面質(zhì)量要求高的，對(duì)鉗爪應(yīng)采取相應(yīng)的措施，如加軟墊等。要適應(yīng)工作位置的狀況：如工作位置較窄小可用薄片形鉗爪。6. 盡可能具有一定的通用性Wewillcontinue toimprovethe compa ny's inter nalcontrol system,and steady improvement in a bility tomanag e and control, optimizebusi ness processes,toe nsuresmooth pr ocesses, re sponsibilitie s in place ;to further strengthe n inter nal control s,play acontr olpostindepe nde ntoversig htrole ofevaluation com plyingwit h third-party responsi bility; to a ctively