工業(ye)機械(xie)手的(de)結構形式比較(jiao)簡(jian)單，專用(yong)性(xing)較(jiao)強。隨著工業(ye)技(ji)術的(de)發展，制(zhi)成了能(neng)夠獨(du)立(li)的(de)按程(cheng)(cheng)序(xu)控制(zhi)實(shi)現重復操作(zuo)，適(shi)用(yong)范圍比較(jiao)廣(guang)的(de)“程(cheng)(cheng)序(xu)控制(zhi)通(tong)(tong)用(yong)機械(xie)手”，簡(jian)稱通(tong)(tong)用(yong)機械(xie)手。由(you)于通(tong)(tong)用(yong)機械(xie)手能(neng)很快的(de)改變工作(zuo)程(cheng)(cheng)序(xu)，適(shi)應(ying)性(xing)較(jiao)強，所以它在不(bu)斷變換生產品(pin)種的(de)中小(xiao)批(pi)量(liang)生產中獲得廣(guang)泛的(de)引用(yong)。

機械手的系統工作原理及組成

       機(ji)(ji)械手(shou)的(de)(de)(de)工作(zuo)原理：機(ji)(ji)械手(shou)主要(yao)由執(zhi)(zhi)行(xing)(xing)(xing)機(ji)(ji)構(gou)(gou)、驅動(dong)(dong)系統(tong)、控(kong)制(zhi)(zhi)(zhi)系統(tong)以及(ji)位(wei)置(zhi)(zhi)檢測裝置(zhi)(zhi)等所(suo)組成。在PLC程序控(kong)制(zhi)(zhi)(zhi)的(de)(de)(de)條件下(xia)，采用液壓傳動(dong)(dong)或(huo)者其他方式，來(lai)實現執(zhi)(zhi)行(xing)(xing)(xing)機(ji)(ji)構(gou)(gou)的(de)(de)(de)相應部位(wei)發生規定要(yao)求的(de)(de)(de)，有(you)順(shun)序，有(you)運動(dong)(dong)軌(gui)跡，有(you)一定速度(du)和時(shi)(shi)間的(de)(de)(de)動(dong)(dong)作(zuo)。同(tong)時(shi)(shi)按其控(kong)制(zhi)(zhi)(zhi)系統(tong)的(de)(de)(de)信息(xi)對執(zhi)(zhi)行(xing)(xing)(xing)機(ji)(ji)構(gou)(gou)發出指(zhi)令，必要(yao)時(shi)(shi)可(ke)對機(ji)(ji)械手(shou)的(de)(de)(de)動(dong)(dong)作(zuo)進行(xing)(xing)(xing)監視，當動(dong)(dong)作(zuo)有(you)錯誤或(huo)發生故(gu)障時(shi)(shi)即發出報警信號。位(wei)置(zhi)(zhi)檢測裝置(zhi)(zhi)隨時(shi)(shi)將執(zhi)(zhi)行(xing)(xing)(xing)機(ji)(ji)構(gou)(gou)的(de)(de)(de)實際位(wei)置(zhi)(zhi)反饋給控(kong)制(zhi)(zhi)(zhi)系統(tong)，并(bing)與設(she)定的(de)(de)(de)位(wei)置(zhi)(zhi)進行(xing)(xing)(xing)比較，然后通過控(kong)制(zhi)(zhi)(zhi)系統(tong)進行(xing)(xing)(xing)調整，從而使執(zhi)(zhi)行(xing)(xing)(xing)機(ji)(ji)構(gou)(gou)以一定的(de)(de)(de)精度(du)達到(dao)設(she)定位(wei)置(zhi)(zhi).

(一)執行機構

包括手(shou)部、手(shou)腕、手(shou)臂和立柱等部件，有(you)的還增設行(xing)走機構。

1、手部

       即(ji)與(yu)物(wu)(wu)件(jian)(jian)接觸的(de)(de)部件(jian)(jian)。由于與(yu)物(wu)(wu)件(jian)(jian)接觸的(de)(de)形(xing)式(shi)不同，可分為夾(jia)持(chi)(chi)式(shi)和(he)(he)吸附(fu)式(shi)手(shou)(shou)在本課題中我們采(cai)用(yong)(yong)夾(jia)持(chi)(chi)式(shi)手(shou)(shou)部結(jie)構。夾(jia)持(chi)(chi)式(shi)手(shou)(shou)部由手(shou)(shou)指(zhi)(zhi)(或(huo)(huo)手(shou)(shou)爪)和(he)(he)傳(chuan)力(li)機(ji)構所構成。手(shou)(shou)指(zhi)(zhi)是與(yu)物(wu)(wu)件(jian)(jian)直接接觸的(de)(de)構件(jian)(jian)，常用(yong)(yong)的(de)(de)手(shou)(shou)指(zhi)(zhi)運動形(xing)式(shi)有回轉型(xing)(xing)和(he)(he)平移型(xing)(xing)。回轉型(xing)(xing)手(shou)(shou)指(zhi)(zhi)結(jie)構簡單，制造容易(yi)，故應用(yong)(yong)較廣泛。平移型(xing)(xing)應用(yong)(yong)較少，其(qi)原(yuan)因是結(jie)構比較復(fu)雜(za)，但(dan)平移型(xing)(xing)手(shou)(shou)指(zhi)(zhi)夾(jia)持(chi)(chi)圓形(xing)零(ling)件(jian)(jian)時(shi)，工件(jian)(jian)直徑(jing)(jing)變(bian)化(hua)不影響其(qi)軸心的(de)(de)位(wei)置，因此適宜(yi)夾(jia)持(chi)(chi)直徑(jing)(jing)變(bian)化(hua)范圍大的(de)(de)工件(jian)(jian)。手(shou)(shou)指(zhi)(zhi)結(jie)構取決于被抓取物(wu)(wu)件(jian)(jian)的(de)(de)表(biao)面(mian)形(xing)狀、被抓部位(wei)(是外廓或(huo)(huo)是內孔(kong))和(he)(he)物(wu)(wu)件(jian)(jian)的(de)(de)重量及尺寸(cun)。而傳(chuan)力(li)機(ji)構則(ze)通過(guo)手(shou)(shou)指(zhi)(zhi)產(chan)生夾(jia)緊(jin)力(li)來完成夾(jia)放物(wu)(wu)件(jian)(jian)的(de)(de)任務。傳(chuan)力(li)機(ji)構型(xing)(xing)式(shi)較多時(shi)常用(yong)(yong)的(de)(de)有:滑槽杠(gang)桿(gan)式(shi)、連桿(gan)杠(gang)桿(gan)式(shi)、斜面(mian)杠(gang)桿(gan)式(shi)、齒輪齒條式(shi)、絲杠(gang)螺母(mu)彈簧(huang)式(shi)和(he)(he)重力(li)式(shi)等。

2、手腕

       是(shi)連接手部和手臂的部件(jian)，并可用來調(diao)整被(bei)抓取(qu)物件(jian)的方位(即姿(zi)勢)

3、手臂

       手(shou)臂(bei)(bei)(bei)是支(zhi)承被(bei)抓(zhua)物件、手(shou)部(bu)、手(shou)腕的(de)重要部(bu)件。手(shou)臂(bei)(bei)(bei)的(de)作用是帶動(dong)手(shou)指去(qu)抓(zhua)取物件，并按(an)預定要求將其搬運到指定的(de)位置。工業機械手(shou)的(de)手(shou)臂(bei)(bei)(bei)通常由驅(qu)動(dong)手(shou)臂(bei)(bei)(bei)運動(dong)的(de)部(bu)件(如(ru)油缸、液壓(ya)(ya)缸、齒輪(lun)齒條(tiao)機構(gou)、連(lian)桿機構(gou)、螺旋機構(gou)和凸(tu)輪(lun)機構(gou)等(deng))與驅(qu)動(dong)源(如(ru)液壓(ya)(ya)、液壓(ya)(ya)或電(dian)機等(deng))相配合，以實現手(shou)臂(bei)(bei)(bei)的(de)各種運動(dong)。

4、立柱

       立柱(zhu)是(shi)支承手(shou)(shou)臂(bei)(bei)的(de)部件，立柱(zhu)也(ye)可(ke)以是(shi)手(shou)(shou)臂(bei)(bei)的(de)一(yi)部分，手(shou)(shou)臂(bei)(bei)的(de)回(hui)轉(zhuan)運(yun)動和升(sheng)降(或俯仰(yang))運(yun)動均與立柱(zhu)有密切(qie)的(de)聯(lian)系。機械手(shou)(shou)的(de)立柱(zhu)因工作需要，有時也(ye)可(ke)作橫向移動，即稱(cheng)為(wei)可(ke)移式立柱(zhu)。

5、機座

       機(ji)(ji)座是機(ji)(ji)械手的基礎(chu)部分，機(ji)(ji)械手執行機(ji)(ji)構的各(ge)部件和驅動系統均安(an)裝于機(ji)(ji)座上，故起支(zhi)撐和連接的作(zuo)用(yong)。

(二)驅動系統

       驅動(dong)(dong)(dong)系(xi)(xi)統是驅動(dong)(dong)(dong)工(gong)業機(ji)械(xie)手(shou)執行機(ji)構運動(dong)(dong)(dong)的(de)。它由動(dong)(dong)(dong)力裝(zhuang)置(zhi)、調節裝(zhuang)置(zhi)和輔(fu)助裝(zhuang)置(zhi)組成(cheng)。常用(yong)的(de)驅動(dong)(dong)(dong)系(xi)(xi)統有(you)液壓傳(chuan)動(dong)(dong)(dong)、 液壓傳(chuan)動(dong)(dong)(dong)、機(ji)械(xie)傳(chuan)動(dong)(dong)(dong)。

(三)控制系統

       控制(zhi)(zhi)系(xi)(xi)統(tong)(tong)是支(zhi)配(pei)著(zhu)工業機(ji)(ji)(ji)械(xie)(xie)手(shou)按(an)規定(ding)(ding)(ding)的(de)(de)要(yao)求(qiu)運(yun)(yun)動(dong)(dong)(dong)的(de)(de)系(xi)(xi)統(tong)(tong)。目前(qian)工業機(ji)(ji)(ji)械(xie)(xie)手(shou)的(de)(de)控制(zhi)(zhi)系(xi)(xi)統(tong)(tong)一般由(you)程序(xu)控制(zhi)(zhi)系(xi)(xi)統(tong)(tong)和電氣定(ding)(ding)(ding)位(或機(ji)(ji)(ji)械(xie)(xie)擋塊定(ding)(ding)(ding)位)系(xi)(xi)統(tong)(tong)組(zu)成。該(gai)機(ji)(ji)(ji)械(xie)(xie)手(shou)采(cai)用的(de)(de)是PLC程序(xu)控制(zhi)(zhi)系(xi)(xi)統(tong)(tong)，它支(zhi)配(pei)著(zhu)機(ji)(ji)(ji)械(xie)(xie)手(shou)按(an)規定(ding)(ding)(ding)的(de)(de)程序(xu)運(yun)(yun)動(dong)(dong)(dong)，并記(ji)憶人們(men)給予(yu)機(ji)(ji)(ji)械(xie)(xie)手(shou)的(de)(de)指令(ling)信息(如動(dong)(dong)(dong)作順序(xu)、運(yun)(yun)動(dong)(dong)(dong)軌跡、運(yun)(yun)動(dong)(dong)(dong)速(su)度及時(shi)間)，同時(shi)按(an)其(qi)控制(zhi)(zhi)系(xi)(xi)統(tong)(tong)的(de)(de)信息對執行(xing)機(ji)(ji)(ji)構發出(chu)指令(ling)，必要(yao)時(shi)可對機(ji)(ji)(ji)械(xie)(xie)手(shou)的(de)(de)動(dong)(dong)(dong)作進(jin)行(xing)監視，當動(dong)(dong)(dong)作有錯誤或發生故(gu)障時(shi)即(ji)發出(chu)報警信號。

(四)位置檢測裝置

       控制機械手執行機構的運動位置，并隨時將執行機構的實際位置反饋給控制系統，并與設定的位置進行比較，然后通過控制系統進行調整，從而使執行機構以一定的精度達到設定位置.