【導(dǎo)讀】機(jī)械手是近幾十年發(fā)展起來(lái)的一種高科技自動(dòng)化生產(chǎn)設(shè)備。工業(yè)機(jī)械手是工業(yè)機(jī)器人的一個(gè)重要分支。它的特點(diǎn)是可通過(guò)變成來(lái)。各自的優(yōu)點(diǎn)，尤其體現(xiàn)了人的智能和適應(yīng)性。機(jī)械手作業(yè)的準(zhǔn)確性和在各種壞境中完成作業(yè)的能力，在國(guó)民經(jīng)濟(jì)各領(lǐng)域有著廣闊的發(fā)簪前景。前者費(fèi)時(shí)費(fèi)工，效率低，后者因設(shè)計(jì)復(fù)雜，需要較多繼電器，接線(xiàn)復(fù)雜，易受車(chē)體震動(dòng)干擾，而存在可靠性差，故障多，維修困難等問(wèn)題。線(xiàn)路設(shè)計(jì)合理、具有較強(qiáng)的抗干擾能力，自動(dòng)控制技術(shù)、傳感器技術(shù)和計(jì)算機(jī)技術(shù)等學(xué)科領(lǐng)域，重新編程序以變動(dòng)的多功能機(jī)器，它有多個(gè)自由度，可用來(lái)搬運(yùn)物體以完成在各個(gè)不同環(huán)境中工作。那些電子和汽車(chē)業(yè)的歐美跨國(guó)公司很早就在它們?cè)O(shè)在中。國(guó)的工廠(chǎng)中引進(jìn)了自動(dòng)化生產(chǎn)。中國(guó)本土塑料加工廠(chǎng)也開(kāi)始對(duì)機(jī)械手表現(xiàn)出越來(lái)越濃厚的興趣,

　　

【正文】 ing and transmission of the work piece, 或自動(dòng)生產(chǎn)線(xiàn)上裝卸和傳遞工件， the replacement of cutting tools in machining centers ,etc. generally do not have a separate control 在加工中心更換刀具等，一般沒(méi)有獨(dú)立的控制裝置。 device. Some operating devices require direct manipulation by humans such as the atomic energy 有些操作裝置需要由人直接操縱如用于原子能部門(mén) sector performs household hazardous material used in the masterslave manipulator is also often 操持危險(xiǎn)物品 的 主從式操作手也常稱(chēng)為機(jī)械手。 referred to as mechanical hand. Manipulator mainly by hand and sport institutions. Task of hand is holding the work piece (or 機(jī)械手主要由手部和運(yùn)動(dòng)機(jī)構(gòu)組成。手部是用來(lái)抓持工件 tool) ponents, according to grasping objects by shape, size, weight, material and operational （或工具）的部件，根據(jù)被抓持物件的形狀、尺寸、重量、材料 requirements of a variety of structural forms, such as clamp type, type and adsorption of a variety 和作業(yè)要求而有有多種結(jié)構(gòu)形式，如加持型、托持型和吸附型等。 of hand rotation (swing), mobile or pound movements to achieve the required action, to 運(yùn)動(dòng)機(jī)構(gòu)，使手部完成各種轉(zhuǎn)動(dòng)（擺動(dòng)）、移動(dòng)或復(fù)合運(yùn)動(dòng)來(lái)實(shí)現(xiàn)規(guī)定的動(dòng)作， change the location of objects by grasping and posture. 改變被抓持物件的位置和姿勢(shì)。 Machine hand is the automated production of a kind used in the process of crawling and 機(jī)械手是在自動(dòng)化生產(chǎn)過(guò)程中使用的一種具有抓取和移動(dòng)工件功 moving piece features automatic device, which is mechanized and automated production process 能的自動(dòng)化裝置，它是在機(jī)械化 自動(dòng)化生產(chǎn)過(guò)程中發(fā)展起來(lái)的一種新 developed a new type of device. In recently years, as electronic technology, especially puter 型裝置。近年來(lái)，隨著電子技術(shù)特別是電子計(jì)算機(jī)的廣泛應(yīng)用， extensive use of machine hand development and product of hightech fields has bee a rapidly 機(jī)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(lái)的 developed a new technology, which further promoted the development of machine hand, allowing 一門(mén)新興技術(shù)，它更加促進(jìn)了機(jī)械手的發(fā)展， machine hand to better achieved with the bination of mechanization and automation. Machine 使得經(jīng)銷(xiāo)商能更好地實(shí)現(xiàn)與機(jī)械化和自動(dòng)化的有機(jī)結(jié)合。 hand can replace humans pleted the risk of duplications of boring work, to reduce human 機(jī)械手能代替人類(lèi)完成危險(xiǎn)、重復(fù)枯燥的工作， labor intensity and improve labor productivity. Manipulator has been applied more and more 減輕人類(lèi) 勞動(dòng)強(qiáng)度，提高勞動(dòng)生產(chǎn)力。機(jī)械手越來(lái)越得到了 widely, in the machinery industry, it can be used for parts assembly, work piece handling, loading 廣泛的應(yīng)用，在機(jī)械行業(yè)中它可用于零部件的組裝，加工工件的搬運(yùn)、 and unloading, particularly in the automation of CNC machine tools, modular machine tools more 裝卸，特別 是在自動(dòng)化數(shù)控機(jī)床、組合機(jī)床上使用更普遍。 monly used. At present, the machine hand has developed into a FMS flexible manufacturing 目前，機(jī)械手已發(fā)展成為柔性制造系統(tǒng) FMS systems and flexible manufacturing cell in an important ponent of the FMC. The machine tool 和柔性制造單元 FMC 中一個(gè)重要組成部分。機(jī)床 設(shè)備和 equipment and machinery in hand together constitute a flexible manufacturing system or a flexible 機(jī)械手共同構(gòu)成一個(gè)柔性加工系統(tǒng)或柔性制造單元， manufacturing cell, it was adapted to small and medium volume production, you can save a huge 它適用于中、小批量生產(chǎn)，可以節(jié)省龐大的工件輸送裝置， amount of the work piece conveyor device, pact, and adaptable. When the work piece changes, 結(jié)構(gòu)緊湊，而且適應(yīng)性很強(qiáng)。當(dāng)工件變更時(shí)，柔性生產(chǎn)系統(tǒng)很容易 flexible production system is very easy to change will help enterprises to continuously update the 改變，有利于企業(yè)不斷更新適銷(xiāo)對(duì)路的品種， marketable variety, improve product quality, and better adapt to market petition. At present, 提高產(chǎn)品質(zhì)量。 更好地適應(yīng)市場(chǎng)競(jìng)爭(zhēng)的需要。 China’s industrial machine hand technology and its engineering application level and parable 而目前我國(guó)的工業(yè)機(jī)器人技術(shù)及其工程應(yīng)用的水平和國(guó)外比 to foreign countries there is a certain distance, application and industrialization of the size of the 還有一定的距離應(yīng)用規(guī)模和產(chǎn)業(yè)化水平低， low level of machine hand research and development of a direct impact on raising the level of 機(jī)械手的研究和開(kāi)發(fā)直接影響到我國(guó)自動(dòng)化生產(chǎn)的水平提高， automation in China, from the economy, technical considerations are very necessary. Therefore, 從經(jīng)濟(jì)上、技術(shù)上考慮都是十分必要的。 the study of mechanical hand design is meaningful. 因此，進(jìn)行機(jī)械手的研究設(shè)計(jì)是非常有意義的 。 菡韯 7 魘 e 紤錀嘻 \苪 gq 滾蔰 P 蛼 B俌掣赦囂 O 環(huán) 7????L[xr 蔜 ?憰葙 kS?峿 4趪鯠 )oI╪崀省 I2 鍬 Pm6X銗 E|??鸓鴀 ???Z。瑽螻 Z 矺 ?閹 n鈝 ??? 韢9r?:~ ?偶埸濗 秝 |騩 gff8?殘 U 楊 ?kR 綸馕懺 N 脖螭坁蓇椂 ?d? /悶 ` 鋣 ? 鳶 し H_ 嗗 貂 緵eqywV 謻翊砄鼙 ]蒨儀ㄩ衼 4{ ?詒FF 牒 DUbi`鑋狇平脼 槎 :嚼祫讖YlI?曠 y?飛 t$HF 蝛苩 1k 畑⑥駔Q@Q@Q@Q@Q@Q@Q@Q@Q@Q@Q@Q@Q@Q@T 覆逗栚 Y i凹 ? 菡韯 7 魘 e 紤錀嘻 \苪 gq 滾蔰 P蛼 B俌掣赦囂 O環(huán) 7????L[xr 蔜 ?憰葙kS? 峿 4 趪鯠 )oI ╪ 崀 省 I2 鍬PmQ@Q@Q@