【正文】 。隨著我國工業(yè)生產的飛躍發(fā)展，自動化程度的迅速提高，實現(xiàn)工件的裝卸、轉向、輸送或操持焊槍、噴槍、扳手等工具進行加工、裝配等作業(yè)的自動化，已越來越引起人們的重視，同時也要求供料機構更加靈活、柔性化，以適應供送不同的物品，這使得供送料機械手在自動機、自動線上得到越來越廣泛的應用。機械手是一種能自動化定位控制并可重新編程序以變動的多功能機器，它有多個自由度，可用來搬運物體以完成在各個不同環(huán)境中工作。 Manufacture 1999, (39) : 273295附錄A Industry ManipulatorThe industry manipulator is one kind of high tech automation production equipment which the nearly several dozens years develop ,the industry manipulator is an industry robot important branch ,its charachteristic is may plete each kind of the machine respective merit in the structure and the performance,has manifested human’s intelligence and the patibility especially,in the manipulator work accuracy and each kind of environment pletes the work ability,has the broad prospects for development in the national economy various domains,along with the industrial automation development , appeared the numerical control processing center,it while reduces work’s labor intensity,enhanced the labor productivity greatly,but in numerical control processing mon on yummy treats working procedure,usually still use the manual control or the radition blackwhite control semiautomatic installment ,the former required a lot of work timeconsuming,the efficiency is low,because the latter designed plex ,had many relays,the wiring to be numerous and diverse,is vibrated esily the chassis the disturbance,but had the reliability badly,the breakdown many ,questions and so on service difficulty,the programmable controller PLC control on yummy treats manipulator control system movement simple,the line design reasonable ,had the strong anttjamming ability ,had guaranteed the system movement reliability,reduced the service rate,enhanced the working efficiency.The manipulator technology involves to mechanice ,mechanics,the electrical hydraulic pressure technology ,the automatic control technology ,the sensor technology and the puter technology and so on,is an interdisciplinary prehensive technology.The manipulator is one kind can automate localization control and may program the multipurpose machines which the foreword changes,it hans many degrees of freedom,available transports the object to plete in each different environment works.In wage level low China,plastic profession although still belonged to the labor force intensity,manipulator’s use already more and more popularized,these electronic and automobile industry European and American Multinational corporation was very early on is located in China’s factory in them to introduce the automated production ,but the present change was these distributes in industry crowded South China,East China coastal area Chinese Native place Plastic Processing factory also starts to the mechanical wristwatch to appear the more and more strong interest,because they had to face the worker rate of personnel loss to be high,as well as the halving belt came challenge.Along with our country industrial production leap development ,the automaticity rapid enhancement ,realization work picec loading and unloading,welding torch,spray gun,trigger tools and so on changes ,the transportation or managers carries on work and so on processing,assembly automations,has brought to people’s attention increasingly ,simultaneously also requests the feeder construction to be more flexibility ,adapts for delivers the different goods,this enables for the feeding manipulator in the automaton ,to obtain the increasingly widespread application from the generatrix in.In the production may enhance the production using the manipulator the automated level and the labor productivity,may reduce the labor intensity ,the guarantee produt quality ,the realization safety in production,the industry manipulator can replace the human in the industrial production to make certain monotonous,frequent and the redundant long time work ,perhape dangerous ,under adverse circumstance work , for example in the ramming ,the pressure casting,the heat treatment ,the welding,the painting, plastic working procedures and so on in product forming,machinefinishing and simple assembly,as well as in departments and so on in atomicenergy industry,pletes to the human body harmful material transporing or the craft operation,as well as aspects and so on light industry ,transportation shipping industry obtain the more and more widespread application.附錄B工業(yè)機械手工業(yè)機械手是近幾年發(fā)展起來的一種高科技自動化生產設備，工業(yè)機械手是工業(yè)機器人的一個重要分支，它的特點是可通過編程來完成各種預期的作業(yè)任務，在構造和性能上兼有人和機器各自的優(yōu)點，尤其體現(xiàn)了人的智能和適應性，機械手作業(yè)的準確性和各種環(huán)境中完成作業(yè)的能力，在國民經(jīng)濟各領域有著廣闊的發(fā)展前景，隨著工業(yè)自動化的發(fā)展，出現(xiàn)了數(shù)控加工中心，它減輕工人的勞動前度的同時，大大提高了勞動生產率，但數(shù)控加工中常見的上下料工序，通常仍采用人工操作或傳統(tǒng)繼電器，接線繁雜，易受車體震動干擾，而存在可靠性差，故障多，維修困難等問題，可編程序控制器PLC控制的上下料機械手控制系統(tǒng)動作簡便，線路設計合理，具有較強的抗干擾能力，保證了系統(tǒng)運行的可靠性，降低了維修率，提高了工作效率。新技術新工藝,2002(10)：212220 丁雪生 . 歐洲雙主軸加工中心簡介。 組合機床與自動化加工技術,2004(8)：3518 梁楚華，朱志堅。北京：機械工業(yè)出版社,199816 何存興。上海：同濟大學出版社， 200314 。北京：國防工業(yè)出版社，200312 杜君文。北京：北京出版社，199910 。遼寧：遼寧科技技術出版社，19998 。北京：化學工業(yè)出版社，20036 王三民。哈爾濱：哈爾濱工程大學出版社，20034 。加工中心自動換刀裝置的設計機械工程與自動化，2007，(01)2 。刀庫和交換主軸的換刀裝置綜合運用了機械零件、理論力學、機械原理、機械制圖、金屬工藝學、液壓等多學科的相關專業(yè)知識，并將相關知識緊密聯(lián)系起來，根據(jù)對國內外同類機械的分析研究，搜集相關的文獻資料，綜合應用完成了整個設計。機械手的驅動采用凸輪聯(lián)動裝置。刀庫選用盤形刀庫，可容20把刀具。利用活塞桿和齒輪嚙合的方式使轉塔頭轉位，轉位齒輪和傳動齒輪處在半嚙合狀態(tài)，這樣就避免了碰齒情況的發(fā)生。主軸及組件的設計通過市場調研及和典型的組合形式確定主軸結構。 48 結論刀庫和交換主軸的換刀裝置用轉塔頭換刀裝置和刀庫式換刀裝置相結合的方式，既解決了轉塔頭換刀裝置主軸數(shù)目較少，只適用與工序較少的數(shù)控機床的問題；同時也縮短了刀庫式換刀裝置的換刀時間。千萬不要刪除行尾的分節(jié)符，此行不會被打印。（8）拔、插刀行程 （61）本設計中采用錐度為40的錐柄，所以可得： 本章小結本章采用凸輪聯(lián)動裝置驅動機械手上下及回轉運動，用步進電機作為裝置的驅動，通過凸輪的曲線實現(xiàn)機械手的運動。（7）滾子盤的抓刀轉角 、回零轉角、換刀轉角 ， 、根據(jù)設計時的空間結構制定，一般取。（6）重合角、 ，由于主軸和刀具之間為錐面連接，