【正文】 產(chǎn)過程自動(dòng)化、改善勞動(dòng)條件、提高產(chǎn)品質(zhì)量和生產(chǎn)效率的有效手段之一。同時(shí)，現(xiàn)代生產(chǎn)中，存在著各種各樣的生產(chǎn)環(huán)境，如高溫、放射性、有毒氣體、有害氣體場(chǎng)合以及水下作業(yè)等，這些惡劣的生產(chǎn)環(huán)境不利于人工進(jìn)行操作。 1 摘 要 在現(xiàn)代工業(yè)中，生產(chǎn)過程的機(jī)械化、自動(dòng)化已成為突出的主題。隨著工業(yè)現(xiàn)代化的進(jìn)一步發(fā)展 ,自動(dòng)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(chǎn)流水線等等，已經(jīng)隨處可見。 工業(yè)機(jī)械手是近代自動(dòng)控制領(lǐng)域中出現(xiàn)的一項(xiàng)新的技術(shù)，是現(xiàn)代控制理論與工業(yè)生產(chǎn)自動(dòng)化實(shí)踐相結(jié)合的產(chǎn)物，并以成為現(xiàn)代機(jī)械制造生產(chǎn)系統(tǒng)中 的一個(gè)重要組成部分。尤其在高溫、高壓、粉塵、噪聲以及帶有放射性和污染的場(chǎng)合，應(yīng)用得更為廣泛。 而氣壓傳動(dòng)機(jī)械手是以壓縮空氣的壓力來驅(qū)動(dòng)執(zhí)行機(jī)構(gòu)運(yùn)動(dòng)的機(jī)械手。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(jī)械手的結(jié)構(gòu)大，所以適用于高速、輕載、高溫和粉塵大的環(huán)境中進(jìn)行工作。氣壓傳動(dòng)工作壓力較低，工作介質(zhì)提取容易，而后排入大氣，處理方便，一般不需設(shè)置回收管道和容器 :介質(zhì)清潔，管道不易堵存在介質(zhì)變質(zhì)及補(bǔ)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(yīng)和遠(yuǎn)距離輸送。 (3)動(dòng)作迅速，反應(yīng)靈敏。氣動(dòng)系統(tǒng)也能實(shí)現(xiàn)過載保護(hù)，便于自動(dòng)控制。壓縮空氣可存貯在儲(chǔ)氣罐中，因此，發(fā)生突然斷電等情況時(shí)， 2 機(jī)器及其工藝流程不致突然中斷。在易燃、易爆、多塵埃、強(qiáng)磁、強(qiáng)輻射、振動(dòng)等惡劣環(huán)境中，氣壓傳動(dòng)與控制系統(tǒng)比機(jī)械、電器及液壓系統(tǒng)優(yōu)越，而且不會(huì)因溫度變化影響傳動(dòng)及控制性能。由于氣動(dòng)系統(tǒng)工作壓力較低，因此降低了氣動(dòng)元、輔件的材質(zhì)和加工精度要求，制造容易，成本較低?？刂品矫妫捎?XD圖法設(shè)計(jì)了控制該機(jī)械手動(dòng)作的氣動(dòng)控制系統(tǒng)。 該氣動(dòng)機(jī)械手的設(shè)計(jì)主要分為三個(gè)部分：總體方案設(shè)計(jì)，結(jié)構(gòu)設(shè)計(jì)計(jì)算及元件選型和機(jī)械手氣動(dòng)控制系統(tǒng)的設(shè)計(jì)。 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?????? ???????????? 2. 國(guó)內(nèi)外研究現(xiàn)狀????????????????????? 3. 研究?jī)?nèi)容、擬解決的問題及設(shè)計(jì)要求???????????? 二 .總體方案設(shè)計(jì)??????????????????????? 1. 功能分解及結(jié)構(gòu)示意圖?????????????????? 2. 氣動(dòng)執(zhí)行元件簡(jiǎn)介???????????????????? 3. 氣缸類型的選擇及總體方案的確定????????????? 三 .設(shè)計(jì)計(jì)算及元件設(shè)計(jì)選型??????????????? ??? 1. 手部夾緊氣缸的設(shè)計(jì) ....????????????????? 2. 水平氣缸的計(jì)算及選型??????????????????