【正文】 1 摘 要 在現(xiàn)代工業(yè)中，生產過程的機械化、自動化已成為突出的主題。隨著工業(yè)現(xiàn)代化的進一步發(fā)展 ,自動化已經(jīng)成為現(xiàn)代企業(yè)中的重要支柱 ,無人車間、無人生產流水線等等，已經(jīng)隨處可見。同時，現(xiàn)代生產中，存在著各種各樣的生產環(huán)境，如高溫、放射性、有毒氣體、有害氣體場合以及水下作業(yè)等，這些惡劣的生產環(huán)境不利于人工進行操作。 工業(yè)機械手是近代自動控制領域中出現(xiàn)的一項新的技術，是現(xiàn)代控制理論與工業(yè)生產自動化實踐相結合的產物，并以成為現(xiàn)代機械制造生產系統(tǒng)中 的一個重要組成部分。工業(yè)機械手是提高生產過程自動化、改善勞動條件、提高產品質量和生產效率的有效手段之一。尤其在高溫、高壓、粉塵、噪聲以及帶有放射性和污染的場合，應用得更為廣泛。在我國，近幾年來也有較快的發(fā)展，并取得一定的效果，受到機械工業(yè)和鐵路工業(yè)部門的重視。 而氣壓傳動機械手是以壓縮空氣的壓力來驅動執(zhí)行機構運動的機械手。其主要特點是 :介質來源極為方便，輸出力小，氣動動作迅速，結構簡單，成本低。但是，由于空氣具有可壓縮的特性，工作速度的穩(wěn)定性較差，沖擊大，而且氣源壓力較低，抓重一般在 30 公斤以下，在同樣抓 重條件下它比液壓機械手的結構大，所以適用于高速、輕載、高溫和粉塵大的環(huán)境中進行工作。 氣動技術有以下優(yōu)點 : (1)介質提取和處理方便。氣壓傳動工作壓力較低，工作介質提取容易，而后排入大氣，處理方便，一般不需設置回收管道和容器 :介質清潔，管道不易堵存在介質變質及補充的問題 . (2)阻力損失和泄漏較小，在壓縮空氣的輸送過程中，阻力損失較小 (一般不卜澆塞僅為油路的千分之一 )，空氣便于集中供應和遠距離輸送。外泄漏不會像液壓傳動那樣，造成壓力明顯降低和嚴重污染。 (3)動作迅速，反應靈敏。氣動系統(tǒng)一般只需要 即可建立起所需的壓力和速度。氣動系統(tǒng)也能實現(xiàn)過載保護，便于自動控制。 (4)能源可儲存。壓縮空氣可存貯在儲氣罐中，因此，發(fā)生突然斷電等情況時， 2 機器及其工藝流程不致突然中斷。 (5)工作環(huán)境適應性好。在易燃、易爆、多塵埃、強磁、強輻射、振動等惡劣環(huán)境中，氣壓傳動與控制系統(tǒng)比機械、電器及液壓系統(tǒng)優(yōu)越，而且不會因溫度變化影響傳動及控制性能。 (6)成本低廉。由于氣動系統(tǒng)工作壓力較低，因此降低了氣動元、輔件的材質和加工精度要求，制造容易，成本較低。 本課題擬開發(fā)物料搬運用氣動機械手，機械手 可以實現(xiàn)在 X、 Z 兩個坐標方向上的移動、繞 Z軸的回轉，手部可以加緊的執(zhí)行機構。控制方面，采用 XD圖法設計了控制該機械手動作的氣動控制系統(tǒng)。這是一個開放的氣動控制系統(tǒng)平臺。 該氣動機械手的設計主要分為三個部分：總體方案設計，結構設計計算及元件選型和機械手氣動控制系統(tǒng)的設計。 由于時間倉促和個人水平限制，我的設計存在著許多還沒來得及解決的問題，希望廣大老師、同學能夠給予批評指正并予以解決。 3 ABSTRACT In modern industry, the production process mechanization and automation has bee a prominent theme. With the further development of industrial modernization, automation has bee an important pillar of the modern enterprise, no shop, no production lines, etc., have been everywhere. Meanwhile, modern production, there are a variety of production environments, such as high temperature, radiation, toxic gases, harmful gases and underwater operations, and other occasions, the harsh production environment is not conducive to manual operation. Modern industrial robots are appearing in the field of automatic control of a new technology, modern control theory and practice of industrial automation product of the bination, and to bee a modern machinery manufacturing production systems is an important ponent. Industrial manipulator is to improve the production process automation, improve working conditions, improve product quality and production efficiency of the effective means. Especially in the hightemperature, high pressure, dust, noise and pollution with radioactive and occasions, more widely applied. In China, recent years have The robot is a pressed air pressure drive the pressure to drive the robot actuator movement. Its main features are: the media is very convenient source, the output force is small, pneumatic and prompt action, simple structure and low cost. However, because air has pressible characteristics, operating speed is unstable, the impact of large and low pressure gas source, focus generally 30 kg weight, weight Tiaojian arrested under the same hydraulic manipulator than the structure of large, So for highspeed, light load, high temperature and dusty work environment. Pneumatic technology has the following advantages: (1) media extraction and processing convenience. Low pressure pneumatic transmission work, the working medium extracted easily, and then discharged into the atmosphere, convenient, generally do not set the recovery pipes and containers: the media clean, easy to plug existing media pipeline deterioration and supplemented. (2) small resistance loss and leakage in the delivery of pressed air process, the resistance loss is small (generally not water plug BU only one thousandth of oil), air supply and easy to focus on longdistance transport. Hydraulic fluid leaks will not be as foreign as pressure decreased significantly and serious pollution. (3) action quickly responsive. Pneumatic systems usually require only 4 to establish the desired pressure and speed. Pneumatic system can also achieve overload protection, easy to automatic control. (4) energy can be stored. Compressed air can be stored in the tank, and therefore, the occurrence of sudden power failure occurs, Machine and its process will not be suddenly interrupted. (5) working environment and good adaptability. Flammable, explosive, and more dust, magic, strong radiation, vibration and other harsh environments, pneumatic drive and control system than the mechanical, electrical and hydraulic system is superior, and temperature changes will not affect the transmission and control performance. (6) low cost. Since the work of low pressure pneumatic system, thereby reducing aerodynamic element, accessories precision materials and processing, manufacturing is easy, low cost. The topic to be developed pneumatic material handling robot, the robot can be achieved in the X, Z direction of two coordinates the movement of rotation around the Z axis, the hand can step up the enforcement agency. Control, the use of XD diagram method designed to control the movement of the pneumatic manipulator control system. This is an open pneumatic control system platform. The design of the pneumatic manipulator is divided into three parts: the overall design, structural design calculations and ponent selection and robotic pneumatic control system design. Owing to time constraints and limited personal level, I have not had time to design, there are many problems, I hope the majority of teachers and students can be criticized and corrected and to be addressed. 目 錄 摘要????????????????????????????? 1 5 ABSTRACT??????????????????????????? 一 .緒論??????????????????????????? 1. 課題來源、目的及意義?????? ???????