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1 緒論
機械手，英文名mechanical hand，是指模仿人手和臂的某些動作和功能，用以按固定程序抓取、搬運物件或操作工具的自動操作裝置。
工業(yè)機械手即在工業(yè)生產(chǎn)中所使用的機械手，是一種可編程序的自動機械手。它是在五十年代末出現(xiàn)，近年來迅速發(fā)展起來的重要的自動化裝置，是實現(xiàn)冬夜自動化的重要手段。目前，在各個生產(chǎn)領域，為了提高生產(chǎn)效率和產(chǎn)品質量，實現(xiàn)安全生產(chǎn)，都采用了各種不同形式，不同功能的機械手。由于機械手的出現(xiàn)，在許多生產(chǎn)工藝中都代替了人工，使工業(yè)自動化有了較大的發(fā)展，這不僅大大的提高了勞動生產(chǎn)率，改善了勞動條件，減輕了工人勞動強度，而且使成批生產(chǎn)有了質量技術的保證，就因為如此，機械手的設計開發(fā)成了目前工業(yè)技術的重要課題。
1.1 研究背景及發(fā)展現(xiàn)狀
機械手在工業(yè)生產(chǎn)中廣泛的應用于機加工，鍛壓，鑄造，沖壓，焊接，裝配，噴漆，熱處理等各個行業(yè)，特別是在笨重，高溫有毒，放射性，多粉塵等惡劣危險的勞動環(huán)境中，機械手由于有顯著的優(yōu)點而備受重視。以下是機械手在工業(yè)中的幾種典型應用:
1.在實現(xiàn)單機自動化方面
1) 各類半自動車床，有自動加緊、進刀，切削、退刀和松開的功能，但仍需人工上下料。裝上機械手，可實現(xiàn)全自動生產(chǎn)，一人看管多臺機床。目前，機械手在這方面應用最多，如上海柴油機廠的曲拐自動車床和座圈自動車床機械手，大連第二機床廠的自動循環(huán)機械手，沈陽仿形車床機械手，沈陽第三機床廠的Y38滾齒機械手，青海第二機床廠的滾銑花鍵機床機械手等。由于這方面使用已有成熟的經(jīng)驗，國內一些機床廠已在這類機床產(chǎn)品出廠時舊附上機械手，或為用戶自行安裝機械手提供條件。
2）注塑機有加料、合模、成型、分模等自動工作循環(huán)，裝上機械手自動裝卸工件，可實現(xiàn)全自動生產(chǎn)。
3）沖床有自動上下料沖壓循環(huán)，裝上機械手上下料，可實現(xiàn)沖壓生產(chǎn)自動化。目前機械手在沖床上應用有兩個方面：一是160t以上的沖床用機械手的較多。如沈陽低壓開關廠200t沖床磁力起動機殼體下料機械手；一是用于多工位沖床用作沖壓件工位間步進。如上海第二汽車配件廠的燈殼沖壓生產(chǎn)線機械手等。
2.在鑄、鍛、焊等如處理方面
在鍛造方面，機械手一般用作加熱爐，鍛壓加床或沖床的上下料和工件的傳送，其中包括多工位沖床的中間傳送。如天津第二鍛造廠研究了JS01通用機械手用于精鍛機上下料。
在鑄造方面，機械手應用較多的是在熔模鑄造中，也用于澆鑄，造型，制芯及清理工作。美國Dochlcn-jarvis工廠是使用工業(yè)機械手最多的，約12萬臺，主要用于從壓型中取出鑄件，然后用噴氣法清洗鑄件表面，該廠使用機械手后鑄件質量得到了很大提高，穩(wěn)定性增強。
在焊接方面，這種機械手可分為點焊接機械手和弧焊接機械手。對于點焊接機械手，其手臂能伸縮，俯仰，回轉，手腕能擺動，回轉，俯仰。至于弧焊接機械手，它的焊炬能作復雜三維曲線運動以調節(jié)焊接范圍。
3.選裝體零件生產(chǎn)流水線自動化方面
采用機械手在旋轉體零件（如軸類、盤類、環(huán)類等）生產(chǎn)流水線上的機床之間傳送工件能夠提高生產(chǎn)線的自動化。國內已建成的這類自動線很多，如沈陽泵廠的深井泵軸承體加工自動線（環(huán)類），大連電機廠的4號和5號電動機軸加工自動線（軸類），上海拖拉機齒輪廠的齒坯加工自動線（盤類）等。加工箱體類零件的組合機床自動線，一般采用隨行夾具傳送工件，也有采用機械手的，如上海動力機廠的汽缸蓋加工自動線轉為機械手。
4. 在裝配方面
工業(yè)機械手在裝配中的應用，是近幾年國內外研究和發(fā)展的一個重要方面，特別是在汽車制造業(yè)的汽車裝配自動化和彈藥裝配等危險作業(yè)上有很大的使用價值。目前裝配機械手正由串聯(lián)結構向并聯(lián)結構轉換。
1.2 本課題的研究目的及意義
工業(yè)機械手具有許多人類無法比擬的特點，滿足了社會化大生產(chǎn)的需要，其主要優(yōu)點如下：
1. 能代替人從事危險、有害的操作。只要根據(jù)工作環(huán)境進行合理設置，選擇適當?shù)牟牧虾徒Y構。機械手就可以在異常高溫或低溫、異常壓力和有害氣體、粉塵、放射線作用下，以及沖壓、滅火等危險環(huán)境中勝任工作。工傷事故多的工種，如沖壓、壓鑄、熱處理、鍛造、噴漆以及有強烈紫外線照射的電弧焊等作業(yè)中，應推廣工業(yè)機械手或機器人。
2. 能長時間工作，不怕疲勞，可以把人從繁重單調的勞動中解放出來，并能擴大和延伸認的功能。人在連續(xù)工作幾小時后，總會感到疲倦和勞累，而機械手只要注意維護、檢修，即能勝任長時間的單調重復勞動。
3. 動作準確，因此可以穩(wěn)定和提高產(chǎn)品的質量，同時又可避免人為的操作失誤。
4. 機械手特別是通用工業(yè)機械手的通用性、靈活性好，能較好的適應產(chǎn)品品種的不斷變化，以滿足柔性生產(chǎn)的需要。
5. 機械手能明顯的提高勞動生產(chǎn)率和降低成本。
由于機械手在工業(yè)自動化和信息化中發(fā)揮了以上巨大的作用，世界各國都很重視工業(yè)機械手的應用及發(fā)展，機械手的應用在我國還處于起步階段，就顯示了許多無法替代的優(yōu)點，展現(xiàn)了廣闊的應用前景。近十幾年來，機械手的開發(fā)不僅越來越優(yōu)化，而且涵蓋了許多領域，應用的范疇十分廣闊。
成品電動機機體形狀很復雜，從毛坯到成品需要很多道加工工序，各道工序及工序之間都要實現(xiàn)機體的移位及定位，這些工序如果全靠人工完成將大大增加工人的勞動強度，不僅使加工質量難以得到保證還增加了勞動的危險性。本課題的研究是為了設計出一種電動機機體加工自動線上用的輔助機械手，該機械手在機體加工自動線能完成下料，轉位和翻轉等多種功能，提高生產(chǎn)效率，降低勞動強度。
1.3 本課題的研究內容
本次設計的多功能機械手用于電動機座加工自動線上，主要由手爪、小臂、大臂等組成，具備上料、翻轉和轉位等多種功能，并按該自動線的統(tǒng)一生產(chǎn)節(jié)拍和生產(chǎn)綱領完成以上動作。本機械手為圓柱坐標式機械手，自動線圍繞機體布置，具有大手臂旋轉、小手臂伸縮、手指伸縮共2個自由度。其中大手臂旋轉是為了將工件從自動線轉移到卸料工位上，小臂升降手指伸縮是重復自由度，目的是擴大升降范圍，避免小手臂頻繁升降；驅動方式為液壓驅動，且選用雙聯(lián)葉片泵，系統(tǒng)壓力為2.5MPa，電機功率為3KW，共有推動大臂旋轉油缸、小臂升降油缸、、手爪夾緊油缸共3個液壓缸；定位采用機械擋塊定位，定位精度為0.5～1mm，采用行程控制系統(tǒng)實現(xiàn)點位控制。
本機械手裝置應具備如下功能；
1. 具有友好的人機界面，以保證人機通訊、人機互助和人機協(xié)同工作。
2.能夠自動完成系統(tǒng)所要求的動作，具有連續(xù)工作、單周期工作、單步工作、自動返回原點、手動返回原點、手動操作等功能。
3.在保證精度的前提下，有一定的容錯性。
4.能夠依次對電動機座完成上料、轉位、翻轉等輔助加工功能。
5.在保證完成以上功能的前提下具有一定的通用性，使該機械手在整個電動機座加工自動線都具有一定的適應性。
2 機械手的總體設計
2.1 總體方案的比較與選定
2.1.1 各種坐標形式機械手的比較
按坐標形式分，機械手主要有以下四種不同的類型：
1. 直角坐標式
2. 圓柱坐標式
3. 球坐標式
4. 平面多關節(jié)式
根據(jù)設計要求，本課題設計的機械手需要在電動機座加工自動線卸料，包括上料，升降，轉位，等多種功能。結合設計要求對各種坐標形式的機械手的優(yōu)缺點作出評析。
如下：
1. 直角坐標式機械手（如圖2.1）。這種機械手所有的送放運動均為直線運動，結構簡單，直觀性好，便于實現(xiàn)一定的精度要求，但本機械手需要在多個工位上完成輔助加工功能，故在相同的動作范圍內其所需要的空間位置大，靈活性差，同時由于手爪部分移動，不利于電液集中配置。
圖2.1 直線坐標式機械手
2. 圓柱坐標式機械手（如圖2.2）。這是一種回轉型機械手，其手臂除了可以伸縮，可以升降外，還可以繞立柱回轉。這種機械手與直角坐標式機械手相比，占地面積小而活動范圍大，結構亦比較簡單，并能達到較高的定位精度。但是，它的手臂的升降受到機械手結構的限制，距離地面總有一定的距離，不能從地面抓取物件，因此不能完成上料的工序。
圖2-2 圓柱坐標式機械手
1—手部 2—腕部 3—臂部
3.球坐標式機械手（如圖2.3）。這種機械手與圓柱坐標式機械手相比，在占有同樣大小的空間情況下，可以擴大工作范圍，能將手臂伸向地面抓取物件。其缺點是運動的直觀性差，結構較復雜，且臂部有兩個回轉運動，位置精度誤差較大。
圖2.3 球坐標式機械手
4.多關節(jié)坐標式機械手（如圖2.4）。這種機械手可以在以臂部最大伸展長度為半徑的球體空間范圍內任意抓取物件，靈活性大。它與其他坐標形式的機械手相比，所占空間最小。但其運動直觀性差，臂部前端的位置由多個回轉運動決定，要達到較高的運動精度比較困難，為此必須提高制造精度，因而使設計和制造均較為復雜。
圖2.4 多關節(jié)坐標式機械手
2.1.2選定的兩個機械手方案的概述及比較
根據(jù)本課題的設計要求，該機械手能夠完成上料、升降、轉位工件等多種功能，所以，在這里設計了四個機械手將要到達并完成輔助加工的工位，依次是：上料工位、升降工位、轉位工位、再次轉位工位（見圖2.6和2.7）。機械手在一個周期內的動作過程如下：
一．上料。機械手在運動開始前面向第一工位。開始工作后，機械手的小手臂的升降缸將手部5下降到取料位置，手部上的定位壓盤正卡在工件已加工完的上端止口及其端面上，同時，手指伸縮油缸1的活塞桿下端連接著帶圓錐面得推動桿6，使內撐式手部的三個手指伸入到工件內的空槽中。
二．完成以上動作后，機械手轉向第二工位，將工件升起，小手臂2的油缸上升，將工件提起到預定的高度。
三．接下來，大手臂回轉90度（當前輸送帶前進到終點發(fā)信）。
四．然后小手臂下降到工件準確地放到轉載裝置前輸送帶的適當位置上。
完成一個周期的動作后，機械手轉向第一工位，處于“回到原點”狀態(tài)。這時，第一工位的專機已經(jīng)完成加工處于“等候上料”狀態(tài)，機械手在第一工位再次完成上料后轉向第二工位，這時，在第一工位加工完畢的機體已經(jīng)順著自動線傳至第二工位，機械手將其轉位使其完成第二工位的加工。在連續(xù)工作狀態(tài)中機械手的動作過程如上所述依次循環(huán)。
總結上述各種形式的機械手，在滿足設計要求的前提下設計出以下兩種方案。
方案一：外形圖及運動簡圖如下：
圖2.5 方案一外形圖
圖2.6 方案一運動簡圖
這是一種屈伸型機械手，該機械手具有與人體上肢相類似的結構。臂部由大臂和小臂兩個部分組成。除了大臂本身具有回轉和俯仰運動外，小臂相對于大臂也可以俯仰，通過大臂和小臂的俯仰來實現(xiàn)手臂的伸縮，通過機身的回轉來實現(xiàn)使手臂面向不同的工位。該機械手有E1-E5（見圖2.6）共5個自由度，其中：
E1：機身繞機座回轉
E2：大臂的俯仰
E3：小臂的俯仰
E4：手腕的俯仰
E5：手腕的回轉
這種機械手采用直線式流水線，待加工的電動機座從流水線上依次流A,B,C,D四個工位，機械手通過機身的回轉依次停在四個工位，分別完成下料、轉位、翻轉、再次轉位四個輔助加工動作。通過大臂、小臂和手腕的俯仰使機械手到達四個工位點，通過手腕的俯仰和翻轉使手爪能夠有正確的夾持姿態(tài)。
方案二：外形圖及運動簡圖如下，見下圖
圖2.8 方案二外形圖
圖2.9 方案二運動簡圖
這是一種圓柱坐標坐標式機械手。該機械手由機座、機身（即立柱）、大臂、小臂、手腕和手爪組成。有E1-E3共2自由度（立柱升降自由度E2和小臂升降自由度E3是重復自由度），其中：
E1:大手臂回轉
E2:手指伸縮
E3:小手臂升降
本機械手為圓柱坐標式機械手，自動線圍繞機體布置，具有大手臂旋轉、小手臂伸縮、手指伸縮共2個自由度。其中大手臂旋轉是為了將工件從自動線轉移到卸料工位上，小臂升降手指伸縮是重復自由度，目的是擴大升降范圍，避免小手臂頻繁升降；驅動方式為液壓驅動，且選用雙聯(lián)葉片泵，系統(tǒng)壓力為2.5MPa，電機功率為3KW，共有推動大臂旋轉油缸、小臂升降油缸、、手爪夾緊油缸共3個液壓缸；定位采用機械擋塊定位，定位精度為0.5～1mm，采用行程控制系統(tǒng)實現(xiàn)點位控制。
該機械手的工作流程圖如下：
圖2.10 方案二的工作流程圖
該機械手由電動機驅動回轉缸里的小齒輪，小齒輪通過與大齒輪嚙合來驅動大手臂回轉；由直動式液壓缸推動小臂升降；由直動式液壓缸推動手指夾緊與放松。
在工作中，自動流水線環(huán)繞機座兩旁布置，機械手在一個工位完成輔助加工后，縮回手臂，大手臂依次回轉到下一工位，伸出手臂完成相應的功能。
兩種方案通過流水線的不同布置都能使手爪到達指定的工位并且都能夠實現(xiàn)所要求的功能，手爪都具有足夠的自由度，能從正確的方位夾持電動機座體。兩種方案都具有電液集中，占地面積小，可以從地面上抓取工件的優(yōu)點。所不同的是：方案一通過腰部的回轉、大臂的俯仰及小臂的俯仰來使手爪到達正確的工位，而方案二是通過大手臂回轉、小手臂的升降和手指伸縮來使手爪到達正確的工位。
但是，方案一運動直觀性差，結構復雜。首先,臂部位置由多個回轉運動決定，手臂在俯仰時底部回轉角度的誤差容易在手臂端部造成誤差擴大，通過大臂、小臂、手腕的回轉誤差累積，最終容易使手爪位置與指定位置有較大偏差。其次，越靠近機身的俯仰運動所需要的驅動力越大，使整個系統(tǒng)各液壓缸工作壓力相差很大，不易配置液壓驅動系統(tǒng)且回轉缸出力不大。再次，方案一的手臂有多種屈伸狀態(tài)，則需要很多的定位裝置，而回轉液壓缸內空間狹小，不宜布置過多的機械擋塊。如果改采用連續(xù)軌跡控制的機械手，成本太高。所以在第二種方案中回轉缸里大小齒輪的嚙合來促使手臂回轉，通過行程擋鐵與形成開關來實現(xiàn)對回轉的控制。
綜上所述，本課題采用第二種方案。
1 Introduction
Manipulator, the English name of mechanical hand, is the manpower and arms to imitate certain actions and functions of a fixed procedure for the capture, handling objects or tools of the automatic operation device operation.
Industrial robot that is used in industrial production robot is a programmable robot hand. It is in the late fifties, developed rapidly in recent years the importance of automation equipment, automation is an important means to achieve winter. At present, in all areas of production, in order to improve production efficiency and product quality, to achieve safe production, have used a variety of different forms, different functions of the robot. The emergence of the robot, in many production processes have replaced the manual, the industrial automation has made significant development, which not only greatly improve labor productivity, improved working conditions, reduce labor intensity, but also mass production With the guarantee of quality and technology, because of this, the robot design and development of industrial technology has become an important issue at present.
1.1 Background and Development of
Manipulator in industrial production are widely used in machining, forging, casting, stamping, welding, assembly, painting, heat treatment and other industries, especially in the heavy, high temperature toxic, radioactive, and more dust and other harsh dangerous work environment, the robot Because of significant advantages has been taken seriously. The following is a robot in the typical industrial applications:
1. In the realization of single automation
1) various types of semi-automatic lathes, automatic step, into the knife, cutting knife and release the function back, but still needs manual loading. Fitted with mechanical hand can be realized fully automatic production, one person in more than one machine. Currently, the mechanical hand in this respect the most widely used, such as Shanghai Diesel Engine Plant crank automatic lathes and seat automatic lathe robot, Dalian Second Machine Tool Plant of automatic loop manipulator, Shenyang copying lathe robot, Shenyang Third Machine Tool Plant of Y38 hobbing mechanical hand, the second machine tool plant in Qinghai spline roller milling machine robots. Since this has proven experience in the use of some domestic machine tool plant has been in such an old machine attached to the factory robots, or users themselves provide the conditions for installation of mechanical hand.
2) injection molding machine with feeding, clamping, forming, parting, such as automatic work cycle, fitted with automatic loading and unloading the workpiece manipulator can realize automatic production.
3) Punch press with automatic loading and unloading cycles, fitted with mechanical hand cutting, stamping automation can be realized. The current robot applications in the red bed has two aspects: First, more than 160t mechanical hand with more punch. Such as low-voltage switchgear plant in Shenyang 200t cutting punch shell magnetic starter manipulator; first multi-station presses used for stamping station between the steps. Such as auto parts plant in Shanghai Second lamp shell punch line robots.
2. In casting, forging, welding, etc., such as processing
In forging, the mechanical hand normally used for heating, forging an extra bed or press the up and down the transmission of material and artifacts, including the middle of multi-station transfer presses. Such as Tianjin, the second of the JS01 Forge General manipulator forging machine for loading and unloading.
In casting, the mechanical hand is used more often in the investment casting, also used for casting, molding, core making and clean-up work. U.S. Dochlcn-jarvis plant is the largest use of industrial robots, about 12 million units, mainly used to remove from the pressure-type casting, and then clean the casting surface jet method, the plant after the use of mechanical hand has been greatly improved casting quality, stability enhanced.
In welding terms, this robot can be divided into point arc welding robot and welding robot. For spot welding robot, the arm can stretch, pitch, rotating the wrist to swing, swing, pitch. As for the arc welding robot, and its complex three-dimensional welding torch can be curved to adjust the welding range.
3. Optional Parts production line automation
Hand in the rotating body by mechanical parts (such as axle, disc type, ring type, etc.) on the production line is transferred between parts of machine tools can improve the production line automation. China has built many of these auto lines, such as the deep well pump plant in Shenyang, automatic production line for bearing body (ring type), motor plant in Dalian 4 and 5, automatic production line for the motor shaft (shaft), the Shanghai factory gear blank Tractor Gear automatic production line (disk type) and so on. Processing machine tool box part of the automatic line, commonly used to send the workpiece pallet, there is also the manipulator, such as the Shanghai Power Machinery Factory automatic production line for the cylinder head into the robot.
4. In the assembly area
Industrial machinery in the assembly of hand, is the research and development at home and abroad in recent years, an important aspect, especially in the automotive industry vehicle assembly automation and ammunition assembly is very dangerous to use operationally value. Present assembly structure of the robot by the serial to parallel conversion structure.
1.2 The purpose and significance of the research project
Industrial robots have many human beings can not match the characteristics of large-scale production to meet the needs of society, its main advantages are as follows:
1. Can replace people in dangerous and harmful operations. As long as a reasonable working environment based on set, select the appropriate materials and structures. Robot can in abnormal high or low temperatures, abnormal pressure and harmful gases, dust, radiation, under, and stamping, fire and other dangerous environments the task. Many types of accidents, such as stamping, casting, heat treatment, forging, painting, and a strong ultraviolet radiation of the electric arc welding and other operations, should be the promotion of industrial machinery or robots.
2. Can work long hours, fear of fatigue, can be from the heavy monotonous work of liberation, and to expand and extend the function of recognition. After several hours of continuous work people always feel tired and fatigue, and mechanical hand as long as the attention to maintenance, overhaul, that is, capable of performing repetitive work a long time.
3. Action is accurate, it can stabilize and improve product quality, while avoiding the human operational errors.
4. In particular, general industrial robot manipulator versatility, flexibility, can better adapt to changing product variety to meet the needs of flexible production.
5. Manipulator can significantly improve productivity and reduce costs.
The robot in industrial automation and information technology has played a more significant role in the world attach great importance to industrial robot application and development of robotic applications in China is still in its infancy, it shows a lot of irreplaceable advantages, showing a broad application prospects. Over the last decade, the development of the robot is not only more and more optimized, and it covers many areas, the application scope is very broad.
Product motor body shape is very complex, from rough to finished product requires a lot of channel processing procedures, of the procedures and processes must be achieved between the movement and position of the body, these processes will be done manually if the greatly increased thanks to the labor intensity of workers, not only difficult to ensure the machining quality of labor also increased the risk. Research of this subject is to design a motor body processing aid used in automated robotic line, the robot can automatic production line in the body to complete the next, turn the bit and flip, and other functions, improve productivity and reduce labor intensity.
1.3 The research topic
The multi-functional manipulator designed for automatic processing of the motor seat online, mainly by the gripper, the arm, the arm and other components, with feeding, turning and translocation of other functions, according to the unity of the automatic line takt and production program to complete the above action. The robot is a cylindrical coordinate manipulator, automatic line around the body layout, with a large arm rotation, small arms stretching, fingers stretching a total of 2 degrees of freedom. Rotate the arm of which is to be transferred to the workpiece from the automatic line on the discharge station, the arm movements are repeated finger stretching degrees of freedom, the purpose is to expand the range of movements to avoid frequent movements of small arms; drive for the hydraulic drive, and the selection of double pump, system pressure 2.5MPa, motor power 3KW, there to promote the rotating cylinder arm, arm lift cylinder,, a total of three gripper cylinder clamping hydraulic cylinder; positioning mechanical stop position, positioning accuracy is 0.5 ~ 1mm, stroke control system using control points.
The robotic device should have the following functions;
1. Has a friendly interface, in order to guarantee machine communication, human solidarity and human work together.
2. Can automatically complete the requested action system, with continuous work, single-cycle work, the work of a single-step, automatic return to origin, manual return to origin, manual operation and other functions.
3. In the given accuracy, there is some fault tolerance.
4. To complete the turn on the motor seat, turn the bit, flip and other auxiliary processing functions.
5. In ensuring the completion of the above function under the premise has a certain generality, so that the robot in automatic production line for the seat motor has a certain flexibility.
2 the overall design of the robot
2.1 Comparison of the overall program with the selected
Coordinates in the form of various robotic 2.1.1 Comparison
The form of points by coordinates, the robot has the following four different types:
1. Cartesian Coordinate
2. Cylindrical Coordinate
3. Spherical coordinate type
4. Planar multi-joint type
According to design requirements, the issue needs to design the robot automatic production line for motor discharge seat, including feeding, lifting, transfer, and other features. Coordinate with the design requirements of various forms of mechanical hand to Review the advantages and disadvantages.
As follows:
1. Cartesian coordinate manipulator (Figure 2.1). This mechanical hand movements are all put give linear motion, the structure is simple, intuitive, and easy to achieve a certain degree of accuracy, but the robots need to be completed in a number of station auxiliary processing functions, it is within the same range of motion of its spatial location required for a large, inflexible, and because the gripper part of the move, is not conducive to concentration of electro-hydraulic configuration.
Figure 2.1 Linear coordinate manipulator
2. cylindrical coordinate manipulator (Figure 2.2). This is a transition back to the robot, in addition to its retractable arm that can lift, you can also turn around the column. The Cartesian robot manipulator with compared to the scope of activities covers an area of ??small and large, the structure is also relatively simple and can achieve high positioning accuracy. However, its movements by the robot arm structural limitations, there is always a certain distance from the ground and can not grab the object from the ground, it can not be completed on the material processes.
Figure 2-2 cylindrical coordinate manipulator
1 - Hand 2 - wrist 3 – arm
3. spherical coordinate manipulator (Figure 2.3). The cylindrical coordinate robot manipulator and compared occupy the same space in the case, you can expand the scope of work, the arm extending toward the ground can grab objects. The disadvantage is the poor visual movement, more complex structure, and the arm has two rotary movement, position accuracy errors.
Figure 2.3 The spherical coordinate manipulator
4. multi-joint coordinate manipulator (Figure 2.4). The robot can be extended to the maximum length of arm radius sphere crawl space any objects within, flexibility. It coordinates with other forms of mechanical hand than for the smallest. Intuitive, but its movement is poor, the location of the front arm rotary movement by a number of decisions, the movement to achieve a higher precision is difficult, for the need to improve manufacturing precision, and thus make the design and manufacturing are more complex.
Figure 2.4 Coordinate multi-joint manipulator
2.1.2 The two selected overview of the robot program and comparison
According to the project design requirements, the robot can do the feeding, lifting, transfer jobs and other functions, so here the design of the four mechanical hand to reach and complete auxiliary processing station, in order: feeding station , lift station, transfer station, once again shifted station (see Figure 2.6 and 2.7). Robot moves in a cycle as follows:
One. Feeding. In the beginning of the campaign in front of the robot to the first station. Started work, a small robot arm lifting cylinder 5 will hand down to get material position, hand position on the pressure plate is stuck in the workpiece has been processed and completed the Mouth of the top end surface at the same time, fingers stretching cylinder 1, the lower end of piston rod was connected to the push rod with a conical surface 6, so that the support-type hand three fingers into the empt