1、附 录 Manipulator Manipulator is nearly decades developed a kind of high-tech automatic production equipment. Industrial manipulator is industrial robot as an important branch. Its characteristic is can programmed to perform a variety of expected task, structure and performance in both of their respec
2、tive and robot a bit, especially reflected the intelligence of person and adaptability. Manipulator and the accuracy of all kinds of environment homework in finish the homework ability, in all areas of the national economy has broad prospects for development. Along with the development of industrial
3、 automation, the emergence of anc machining center, it in to reduce the labor intensity and at the same time, greatly improving the productivity of Labour. But in the numerical control processing common up-down material process, usually still use manual operation or traditional relay control half au
4、tomatic device. The former drilling wastes time workers, the efficiency is low； The latter for design complex, need to be more relays, wiring multifarious, vulnerable to body vibration interference, and exist to poor reliability and analyzed, maintenance difficulty. Programmable controller PLC contr
5、ol of the robot control system action up-down material is simple, convenient, circuit design is reasonable, has strong anti-jamming ability, ensure that the system reliability of operation, and to reduce the maintenance rate, and improve work efficiency. Manipulator involves mechanics, mechanics, el
6、ectric hydraulic pressure technology, automatic control technology, the sensor technology and computer technology, the field of science, and is an interdiscipline integrated technology. First， a industrial overview of manipulator Manipulator is a position control and automation to programming change
7、s to the multi-function machine, it has more freedom, can be used to carry objects to complete in every different environment. In the low level of wages in China, the plastic products industry still belongs to the labour-intensive, the use of robots has been more and more popular. The electronic and
8、 cars in the United States and Europe multinational companies have long in the factory in China they brought in the automation production. But now the change is the distribution in the industrial intensive south, east coastal area of China local plastic factories are beginning to manipulator show mo
9、re and more interest, because they will face losing workers high, as well as the challenges of inductrial injury worker pay. With the rapid development of our industrial production, especially after the reform and development, automation degree of increasing quickly, realize the workpiece loading, u
10、nloading, turn to, transmission or operating fiber airbrush, welding, and wrench and tools for processing, assembling and homework since the change, already more and more cause our attention. Manipulator is part of the action imitating the hands, according to the given program, track and demanding a
11、cquirement, handling or operation of the automatic mechanical device. In real life, if you will find such a problem. In machinery factory, processing components of loading and unloading time is very vexed, labor productivity is not high, the production cost, sometimes happen some human accident, res
12、ulting in processors were injured. Think about it with what can instead of it, processing of time as long as there are several people looked around the, and can be twenty-four hours in saturated operation, pedestrian? The answer is yes, but manipulator can instead of it. Production application can i
13、mprove the production of the manipulator automation level and the labor productivity； Can reduce labor intensity, ensure the quality of products, and realize safe production； Especially in high temperature, high pressure, low temperature, low pressure, dust, explosive, toxic gases and radiation and
14、other heavy environment can replace people normal work. Thought of here I very want to design a manipulator, to used in the production practice. Why choose the design with pneumatic manipulator to provide the power: pneumatic manipulator is to point to to compressed air as power source drive of the
15、manipulator. With pneumatic drive and other energy drive more has the following advantages: 1. The air inexhaustible, and after with vented into the air, do not need to recycle and the processing. Dont pollute the environment. (environmental protection concept) 2. The air with sex is very small, in
16、pipeline pressure loss also very small (general gas road less than one over one thousand of the oil resistance losses), facilitate transmitted over a long distance. 3. Compressed air pressure low (is commonly 4 to 8 kg/every square centimeters), so the pneumatic components material and manufacturing
17、 precision requirement can be reduced. 4. And hydraulic transmission than its action and reaction are fast, this is one of the advantages of pneumatic outstanding. 5. Air medium clean, also wont metamorphic pipeline, not easy jam. But also have it the shortage of place: 1. Because the air compressib
18、ility, the pneumatic working stability of poor, therefore cause actuators movement speed and accuracy as not easy to control. 2. Use low air pressure because, output force cant be too big, in order to increase output force, will make the whole pneumatic system structure size increase. With pneumatic
19、 drive and other energy is driven by the following advantages: Air inexhaustible, and after with vented into the air, do not need to recycle and the processing. Dont pollute the environment. Accidental or a small amount of leakage from serious influence on production. Air sticky is very small, in pi
20、peline pressure loss was small, facilitate transmitted over a long distance. Compressed air pressure is low, so the pneumatic components material and manufacturing precision requirement can be reduced. Generally speaking, reciprocating motion thrust in 1 2 tons of the following adopt pneumatic econo
21、my is better. And hydraulic transmission than its action and reaction are fast, this is one of the advantages of pneumatic outstanding. Air medium clean, also wont metamorphic pipeline, not easy jam. It can be safely used in inflammable, explosive and dust great occasion, this is one of the pneumati
22、c prominent advantages. Second， the composition of the manipulator The form of manipulator is various, some relatively simple, some is relatively complex, but the basic form of is the same, generally, the executing agency, transmission system, control system and auxiliary device component. 1. The en
23、forcement agencies Manipulator of actuators, by hand, wrist, arm, the prop composition. The hand is grab institutions, used to clamping and loosen the workpiece, and people are similar to the fingers, to complete the hands of similar action. Wrist is connected with the finger arm components, can go up and down, and turn around. Simple manipulator can do not have the wrist. Pillar used to support the arm, can also according to need to make the move.
