基于plc的机械手系统标准设计外文文献翻译.doc

毕业设计（论文）外文资料翻译学生姓名:何友良学 号:专 业:电气工程及其自动化指导老师:谢富珍 副教授学 院:电气和电子工程日 期:.02.16 外文资料翻译要求一、 译文内容须和课题研究或调研内容高度一致。二、 译文翻译适当、语句通顺，不少于4000字。三、 译文格式要求：译文题目（即一级标题）采取小三黑体、二级标题采取四号黑体、三级标题采取13磅黑体；图题和表题采取五号宋体，外文和符号采取五号Times New Roman；正文采取小四宋体，外文和符号采取小四Times New Roman，行间距为20磅；A4纸双面打印。四、 原文及译文一起装订，次序依次为封面（后面为外文资料翻译要求）、译文评阅（单面打印）、译文、外文原文。译文评阅评分：_（百分制） 指导老师（署名）：_ 年 月 日译文：机械手发展和研究 伴随中国工业生产飞跃发展，自动化程度快速提升，实现工件装卸、转向、输送或是操持焊枪、喷枪、扳手等工具进行加工、装配等作业自动化，应越来越引发大家重视。 机械手是模拟着人手部分动作，按给定程序、轨迹和要求实现自动抓取、搬运或操作自动化装置。在工业生产中应用机械手被称为“工业机械手”。生产中应用机械手能够提升生产自动化水和劳动生产率；能够减轻劳动疲惫强度、确保产品质量、实现安全生产；尤其在高温、高压、低温、低压、粉尘、易爆、有毒气体和放射性等恶劣环境中，它替换人进行正常工作，意义更为重大。所以，在机械加工、铸、焊接、热处理、电镀喷漆、装配和轻工业、交通运输业等方面得到越来越多广泛应用。 机械手结构形式开始比较简单，专业性较强，仅为某台机床上下料装置，是隶属于该机床专用机械手。伴随工业技术发展，制成了能够独立按程序控制实现反复操作，使用范围比较广“程序控制通用机械手”，简称通用机械手。用于通用机械手很快改变工作程序，适应性较强，所以她在不停变换生产品种中小批量生产中取得广泛应用。机械手是一个能自动化定位控制并可重新编程序以变动多功效机器，它有多个自由度，可用来搬运物体以完成在各个不一样环境中工作。在工资水平较低中国，塑料制品行业尽管仍属于劳动力密集型，机械手使用已经越来越普及。那些电子和汽车业欧美跨国企业很早就在它们设在中国工厂中引进了自动化生产。但现在改变是那些分布在工业密集华南、华东沿海地域中国本土塑料加工厂也开始对机械手表现出越来越浓厚爱好，因为她们要面对工人流失率高，和为工人交工伤费带来挑战。同时，机械手能够能够借助软件编程，对不一样生产对象，完成不一样控制，提升了生产效率。现在，在部分对人力要求较高工业中，基础上全部有使用机械手技术，用来减轻人力需求和愈加好控制，实现产业最大化。一、机械手组成机械手形式是多个多样，有较为简单，有较为复杂，但基础组成形式是相同，通常由实施机构、传动系统、控制系统和辅助装置组成。1. 实施机构 机械手实施机构，由手、手腕、手臂、支柱组成。手是抓取机构，用来夹紧和松开工件，和人手指相仿，能完成人手类似动作。手腕是连接手指和手臂元件，能够进行上下、左右和回转动作。简单机械手能够没有手腕。支柱用来支撑手臂，也能够依据需要做成移动。2. 传动系统 实施机构动作要由传动系统来实现。常见机械手传动系统分机械传动、液压传动、气压传动和电力传动等多个形式。3. 控制系统 机械手控制系统关键作用是控制机械手按一定程序、方向、位置、速度进行动作，简单机械手通常不设置专用控制系统，只采取行程开关、继电器、控制阀及电路便可实现动传动系统控制，使实施机构按要求进行动作动作复杂机械手则要采取可编程控制器、微型计算机进行控制。二、机械手分类和特点 机械手通常分为三类：第一类是不需要人工操作通用机械手。它是一个独立不隶属于某一主机装置。它能够依据任务需要编制程序，以完成各项要求操作。它特点是含有一般机械性能之外，还含有通用机械、记忆智能三元机械。第二类是需要人工才做，称为操作机。它起源于原子、军事工业，先是经过操作机来完成特定作业，以后发展到用无线电讯号操作机来进行探测月球等。工业中采取铸造操作机也属于这一范围。第三类是用专用机械手，关键隶属于自动机床或自动线上，用以处理机床上下料和工件送。这种机械手在国外称为“Mechanical Hand”，它是为主机服务，由主机驱动；除少数以外，工作程序通常是固定，所以是专用。三、工业机械手应用 机械手是在机械化、自动化生产过程中发展起来一个新型装置。多年来，伴随电子技术尤其是电子计算机广泛应用，机器人研制和生产已成为高技术领域内快速发展起来一门新兴技术，它愈加促进了机械手发展，使得机械手能愈加好地实现和机械化和自动化有机结合。 机械手即使现在还不如人手那样灵活，但它含有能不停反复工作和劳动、不知疲惫、不怕危险、抓举重物力量比人手大等特点，所以，机械手已受到很多部门重视，并越来越广泛地得到了应用。(1) 机床加工工件装卸，尤其是在自动化车床、组合机床上使用较为普遍。 (2) 在装配作业中应用广泛，在电子行业中它能够用来装配印制电路板，在机械行业中它可 以用来组装零部件。(3) 可在劳动条件差，单调反复易子疲惫工作环境工作，以替换人劳动。 (4) 可在危险场所下工作，如军工品装卸、危险品及有害物搬运等。(5) 宇宙及海洋开发。(6) 军事工程及生物医学方面研究和试验。 应用机械手能够替换人从事单调反复或繁重体力劳动，实现生产机械化和自动化，替换人在有害环境下手工操作，改善劳动条件，确保人身安全。20世纪40年代后期，美国在原子能试验中，首先采取机械手搬运放射性材料，人在安全室操纵机械手进行多种操作和试验。50年代以后，机械手逐步推广到工业生产部门，用于在高温污染严重地方取放工件和装卸材料，也作为机床辅助装置在自动机床自动生产线和加工中心中应用，完成上下料或从刀库中取放刀具并按固定程序更换刀具等操作。机械手关键由手部机构和运动机构组成。手部机构随使用场所和操作对象而不一样，常见有夹持托持和吸附等类型。运动机构通常由液压气动电气装置驱动。机械手可独立地实现伸缩旋转和昇降等运动，通常有23个自由度。机械手广泛用于机械制造冶金轻工和原子能等部门。 机械手是在自动化生产过程中使用一个含有抓取和移动工件功效自动化装置，它是在机械化、自动化生产过程中发展起来一个新型装置。多年来，伴随电子技术尤其是电子计算机广泛应用，机器人研制和生产已成为高技术领域内快速发展起来一门新兴技术，它愈加促进了机械手发展，使得机械手能愈加好地实现和机械化和自动化有机结合。机械手能替换人类完成危险、反复枯燥工作，减轻人类劳动强度，提升劳动生产力。机械手越来越广泛得到了应用，在机械行业中它可用于零部件组装 ，加工工件搬运、装卸，尤其是在自动化数控机床、组合机床上使用更普遍。现在，机械手已发展成为柔性制造系统FMS和柔性制造单元FMC中一个关键组成部分。把机床设备和机械手共同组成一个柔性加工系统或柔性制造单元，它适应于中、小批量生产，能够节省庞大工件输送装置，结构紧凑，而且适应性很强。当工件变更时，柔性生产系统很轻易改变，有利于企业不停更新适销对路品种，提升产品质量，愈加好地适应市场竞争需要。而现在中国工业机器人技术及其工程应用水平和国外比还有一定距离，应用规模和产业化水平低，机械手研究和开发直接影响到中国自动化生产水平提升，从经济上、技术上考虑全部是十分必需。所以，进行机械手研究设计是很有意义。四、机械手发展趋势现在工业机械手应用逐步扩大，技术性能在不停地提升。因为发展时间较短，大家对它有一个逐步认识过程，机械手在技术上还有一个逐步完善过程，其现在发展趋势是：1、扩大机械手再加工行业上应用现在中国机械手应用在机械工业冷加工作业中较多，而在铸、锻、焊、热处理等热加工和装配作业等方面应用较少。所以加工作业物件重、形状复杂、环境温度高等，给机械手设计、制造带来不少困难，这就需要处理技术上难点，使机械手愈加好地为加工作业服务。同时，在其它行业和工业部门，也将伴随工业技术水平不停提升，而逐步扩大机械手使用。2、 提升工行业机械手工作性能机械手工作性能优劣，决定着它能否正常应用和生产中，机械手工作性能中反复定位精度和工作速度两个指标，决定机械手能否保质保量完成操作关键原因。所以要处理好机械手工作平稳性和快速性要求，除了从处理缓冲定位方法入手外，还应发展满足机械手性能要求价廉电液伺服阀，将伺服控制系统应用于机械手上。3、 发展组合式机械手从机械手本身特点来说，可变程序机械手更适应产品类型、设备更新、多品种小批量要求，不过它成本高，专用机械手价廉，但适用范围又受到限制。所以，对部分特殊用途场所，就需要专门设计、专门加工，这么就提升了产品成本。为了适应应用领域分门别类要求，可将机械手结构设计成能够组合形式 。组合式机械手是将部分通用部件依据作业要求，选择必需能完成预定机能单元部件，以机座为基础进行组合，配上和其相适应控制部分，即成为能完成特殊要求机械手。它能够简化结构，兼顾了使用上专用性和设计上通用性，更于标准化、系列化设计和组织专业化生产，有利于提升机械手质量和降低造价，是一个有发展前途机械手。4、研制含有“视觉”和“触觉”所谓“智能机器人”对于需要人工进行灵活操作及需要进行人工判定场所，工业机械手极难替换人劳动。如在工作过程中出现事故、障碍和情况改变等，机械手不能自动分辨纠正，而只能停机，待大家排除意外事故后才能继续工作。所以，大家对机械手提出了更高要求，期望使其含有“视觉”、“触觉”等功效，使之对物体进行判定、选择，能连续调整以适应改变条件，并能进行“手眼”协调动作。这就需要一个能处理大量信息计算机，要求人和机器“对话”进行信息交流。这种带“视觉”、“触觉”反馈，由计算机控制，含有些人部分“智能”机械装置称为“智能机器人”。所谓“智能”是包含：识别、学习、记忆、分析判定功效。而识别功效是经过“视觉”、“触觉”和“听觉”等感觉“器官”认识对象。含有感觉功效机器人，其工作性能是比较完善，能够正确地夹持任意方位物体，判定物体重量，越过障碍物进行工作，自动测出夹紧力大小，并能自动调整，适适用于从事复杂、精密操作，如装配作业，它含有一定发展前途。智能机器人是一个新兴技术，对它研究将包含到电子技术、控制论、通讯技术、电视技术、空间结构和仿生机械学科。它是现代自动控制技术一个新兴领域。伴随科学及发展，智能机器人将会替换人做更多工作。原文： The development and research robots 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 the 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 manipulator. 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, 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, 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 repetitive 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 products 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 industry 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 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 composition 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, pillars. 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 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. 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 realize 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 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, 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 forging 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, 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, with 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 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 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 printed 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 biomedical 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, 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 temperature, 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 replace 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, electric 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 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 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 the combination of mechanization and automation. Robots can replace humans do dangerous, repeat the boring work, 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 tools 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 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 product 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 direct 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 tre