【正文】 pollute the environment. (Concept of environmental protection) 2. Air stick is small, the pipeline pressure loss is small (typically less than asphalt gas path pressure drop of onethousandth), to facilitate longdistance transport. 3. Compressed air of the working pressure is low (usually 4 to 8 kg / per square centimeter), and therefore moving the material ponents and manufacturing accuracy requirements can be lowered. 4. With the hydraulic transmission, pared to its faster action and reaction, which is one of the advantages pneumatic outstanding. 5. The air cleaner media, it will not degenerate, not easy to plug the pipeline. But there are also places where it fly in the ointment: 1. As the pressibility of air, resulting in poor aerodynamic stability of the work, resulting in the implementing agencies as the precision of the velocity and not easily controlled. 2. As the use of low atmospheric pressure, the output power can not be too large。 in order to increase the output power is bound to the structure of the entire pneumatic system size increased.With pneumatic drive and pare with other energy sources drive has the following advantages:
Air inexhaustible, used later discharged into the atmosphere, without recycling and disposal, do not pollute the environment. Accidental or a small amount of leakage would not be a serious impact on production.
Viscosity of air is small, the pipeline pressure loss also is very small, easy longdistance transport.
The lower working pressure of pressed air, pneumatic ponents and therefore the material and manufacturing accuracy requirements can be lowered. In general, reciprocating thrust in 1 to 2 tons pneumatic economy is better.
Compared with the hydraulic transmission, and its faster action and reaction, which is one of the outstanding merits of pneumatic.
Clean air medium, it will not degenerate, not easy to plug the pipeline.
It can be safely used in flammable, explosive and the dust big occasions. Also easy to realize automatic overload protection.
Second, the position, mechanical hand
Robot in the form of a variety of forms, some relatively simple, some more plicated, but the basic form is the same as the position of the
, Usually by the implementing agencies, transmission systems, control systems and auxiliary devices posed.
1. Implementing agencies
Manipulator executing agency by the hands, wrists, arms, pillars. Hands are crawling institutions, is used to clamp and release the workpiece, and similar to human fingers, to plete the staffing of similar actions. Wrist and fingers and the arm connecting the ponents can be up and down, left, and rotary movement. A simple mechanical hand can not wrist. Pillars used to support the arm can also be made mobile as needed.
2. Transmission
The actuator to be achieved by the transmission system. Subtransmission system monly used manipulator mechanical transmission, hydraulic transmission, pneumatic and electric power transmission and other drive several forms.
3. Control System
Manipulator control system39。s main role is to control the robot according to certain procedures, direction, position, speed of action, a simple mechanical hand is generally not set up a dedicated control system, using only trip switches, relays, control valves and circuits can be achieved dynamic drive system control, so that implementing agencies according to the requirements of action. Action will have to use plex programmable robot controller, the microputer control.Three, mechanical hand classification and characteristics
Robots are generally divided into three categories: the first is the general machinery does not require manual hand. It is an independent not affiliated with a particular host device. It can be programmed according to the needs of the task to plete the operation of the provisions. It is characterized with ordinary mechanical performance, also has general machinery, memory, intelligence ternary machinery. The second category is the need to manually do it, called the operation of aircraft. It originated in the atom, military industry, first through the operation of machines to plete a particular job, and later developed to operate using radio signals to carry out detecting machines such as the Moon. Used in industrial manipulator also fall into this category. The third category is dedicated manipulator, the main subsidiary of the automatic machines or automatic lines, to solve the machine up and down the workpiece material and delivery. This mechanical hand in foreign countries known as the Mechanical Hand, which is the host of services, from the hostdriven。 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)
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 workpiece loadin