【正文】 omation in China, from the economy, technical considerations are very necessary. Therefore, the study of mechanical hand design is very meaningful. 機(jī)械手是近幾十年發(fā)展起來的一種高科技自動(dòng)化生產(chǎn)設(shè)備?？删幊绦蚩刂破? PLC 控制的上下料機(jī)械手控制系統(tǒng)動(dòng)作簡(jiǎn)便、線路設(shè)計(jì)合理、 具有較強(qiáng)的抗干擾能力 , 保證了系統(tǒng)運(yùn)行的可靠性 ,降低了維修率 , 提高了工作效 率。 在現(xiàn)實(shí)生活中，你是否會(huì)發(fā)現(xiàn)這樣一個(gè)問題。 （環(huán)保的概念） 性很小，管路中壓力損失也很?。ㄒ话銡饴纷枇p失不到油路的千分之一） ，便于 遠(yuǎn)距離輸送。 空氣的粘性很小，管路中壓力損失也就很小，便于遠(yuǎn)距離輸送。手是抓取機(jī)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(dòng)作。它是一種獨(dú)立 的不附屬于某一主機(jī)的裝置。 主要特點(diǎn)： (1) 機(jī)械手（上下料機(jī)械手、裝配機(jī)械手、搬運(yùn)機(jī)械手、堆垛機(jī)械手、助力機(jī) 械手、真空搬運(yùn)機(jī)、 真空吸吊機(jī)、省力吊具、氣動(dòng)平衡器等）。 (6) 軍事工程及生物醫(yī)學(xué)方面的研究和試 驗(yàn)。手 部機(jī)構(gòu)隨使用場(chǎng)合和操作對(duì)象而不同，常見的有夾持﹑托持和吸附等類型。機(jī)械手主要由手部和運(yùn)動(dòng)機(jī)構(gòu)組成。當(dāng)工件變更時(shí)，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(duì)路的品種，提高產(chǎn)品質(zhì)量，更好地適應(yīng)市場(chǎng)競(jìng)爭(zhēng)的需要。目前，機(jī)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(gè)重要組成部分。 機(jī)械手通常用作機(jī)床或其他機(jī)器的附加裝置，如在自動(dòng)機(jī)床或自動(dòng)生產(chǎn)線上裝卸和傳遞工件，在加工中心中更換刀具等，一般沒有獨(dú)立的控制裝置。50 年代以后，機(jī)械手逐步推廣 到工業(yè)生產(chǎn)部門，用于在高溫﹑污染嚴(yán)重的地方取放工件和裝卸材料，也作為機(jī)床 的輔助裝置在自動(dòng)機(jī)床﹑自動(dòng)生產(chǎn)線和加工中心中應(yīng)用，完成上下料或從刀庫(kù)中取 放刀具并按固定程序更換刀具等操作。 (4) 可在危險(xiǎn)場(chǎng)合下工作，如軍工品的裝卸、危險(xiǎn)品及有害物的搬運(yùn)等。第三類是用專用機(jī)械手，主要附屬于自動(dòng) 機(jī)床或自動(dòng)線上，用以解決機(jī)床上下料和工件送。 3. 控制系統(tǒng) 機(jī)械手控制系統(tǒng)的主要作用是控制機(jī)械手按一定的程序、方向、位置、速度進(jìn) 行動(dòng)作，簡(jiǎn)單的機(jī)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 制閥及電路便可實(shí)現(xiàn)動(dòng)傳動(dòng)系統(tǒng)的控制，使執(zhí)行機(jī)構(gòu)按要求進(jìn)行動(dòng)作．動(dòng)作復(fù)雜的 機(jī)械手則要采用可編程控制器、微型計(jì)算機(jī)進(jìn)行控制。又便于實(shí)現(xiàn)過載自動(dòng)保護(hù) . 二﹑機(jī)械手的組成 機(jī)械手的形式是多種多樣的，有的較為簡(jiǎn)單，有的較為復(fù)雜，但基本的組成形 式是相同的 ，一般由執(zhí)行機(jī)構(gòu)、傳動(dòng)系統(tǒng)、控制系統(tǒng)和輔助裝置組成。 用氣壓驅(qū)動(dòng)與用其他能源驅(qū)動(dòng)比較有以下優(yōu)點(diǎn)： 空氣取之不竭，用過之后排入大氣，不需回收和處理，不污染環(huán) 境。 為什么選著設(shè)計(jì)機(jī)械手用氣動(dòng)來提供動(dòng)力：氣動(dòng)機(jī)械手是指以壓縮空氣為動(dòng)力 源驅(qū)動(dòng)的機(jī)械手。 隨著我國(guó)工業(yè)生產(chǎn)的飛躍發(fā)展， 特別是改革開發(fā)以后， 自動(dòng)化程度的迅速提高， 實(shí)現(xiàn)工件的裝卸、轉(zhuǎn)向、輸送或操作釬焊、噴槍、扳手等工具進(jìn)行加工、裝配等作 業(yè)自化 ，已愈來愈引起我們重視。前者費(fèi)時(shí)費(fèi)工、效率低 。 exception of a few outside the working procedures are generally fixed, and therefore special. Main features: First, mechanical hand (the upper and lower material robot, assembly robot, handling robot, stacking robot, help robot, vacuum handling machines, vacuum suction crane, laborsaving spreader, pneumatic balancer, etc.). Second, cantilever cranes (cantilever crane, electric chain hoist crane, air balance the hanging, etc.) Third, railtype transport system (hanging rail, light rail, single girder cranes, doublebeam crane) machinery, Four, industrial machinery, application of hand Manipulator in the mechanization and automation of the production process developed a new type of device. In recent years, as electronic technology, especially puter extensive use of robot development and production of hightech fields has bee a rapidly developed a new technology, which further promoted the development of robot, allowing robot to better achieved with the bination of mechanization and automation. Although the robot is not as flexible as staff, but it has to the continuous duplication of work and labor, I do not know fatigue, not afraid of danger, the power snatch weight characteristics when pared with manual large, therefore, mechanical hand has been of great importance to many sectors, and increasingly has been applied widely, for example: (1) Machining the work piece loading and unloading, especially in the automatic lathe, bination machine tool use is more mon. (2) In the assembly operations are widely used in the electronics industry, it can be used to assemble printed circuit boards, in the machinery industry It can be used to assemble parts and ponents. (3) The working conditions may be poor, monotonous, repetitive easy to subfatigue working environment to replace human labor. (4) May be in dangerous situations, such as military goods handling, dangerous goods and hazardous materials removal and so on. (5) Universe and ocean development. (6), military engineering and biomedical research and testing. Help mechanical hands: also known as the balancer, balance suspended, laborsaving spreader, manual Transfer machine is a kind of weightlessness of manual load system, a novel, timesaving technology for material handling operations booster equipment, belonging to kinds of nonstandard design of series products. Customer application needs, creating customized cases. Manual operation of a simulation of the automatic machinery, it can be a fixed program draws ﹑ handling objects or perform household tools to acplish certain specific actions. Application of robot can replace the people engaged in monotonous ﹑ repetitive or heavy manual labor, the mechanization and automation of production, instead of people in hazardous environments manual operation, improving w