The Design of Hand Column Type Power Machine
工业机械手的设计
Serope kalpak jian,Steven R.Schmid
Abstract
摘要
Machine hand developed in recent decades as high-tech automated production equipment. 机械手是近几十年发展起来的一种高科技自动化生产设备。 Industrial machine hand is an important branch of industrial machine hands. It features can be 工业机械手是工业机器人的一个重要分支。它的特点是可通过变成来 programmed tasks in a variety of expectations, in both structure and performance advantages of 完成各种预期的作业任务，在构造和性能上兼有人和机器
their own people and machines, in particular, reflects the people’s intelligence and adaptability. 各自的优点，尤其体现了人的智能和适应性。
The accuracy of machine hand operations and a variety of environments the ability to complete 机械手作业的准确性和在各种坏境中完成作业的能力，
the work in the field of national economy and there are broad prospects for development. With the 在国民经济各领域有着广阔的发簪前景。
development of industrial automation, there has been CNC marching center, it is in reducing labor 随着工业自动化的发展，出现了数控加工中心，他在减轻工
intensity, while greatly improves labor productivity. However, the upper and lower common in 人劳动强度的同时，大大提高了劳动生产率，但数控加工中 CNC marching processes material, usually still use manual or traditional relay-controlled 常见的上下料工序，通常仍采用人工操作或传统继电器控制的半semi-automatic device. The former time-consuming and labor intensive, inefficient; the latter due 自动化装置。前者费时费工，效率低， 后者因设计复杂， to design complexity, require more relays, writing complexity, vulnerability to body vibration 需要较多继电器，接线复杂，易受车体震动干扰，
interference, while the existence of poor reliability, fault more maintenance problems and other 而存在可靠性差，故障多，维修困难等问题。
issues. Programmable Logic Controller PLC-controlled machine hand control system for material 可编程程序控制器PLC控制的上下料机械手控制系统动作简便、 up and down movement is simple, circuit design is reasonable, while a strong anti-jamming 线路设计合理、具有较强的抗干扰能力，
capability, ensuring the system’s reliability, reduced maintenance rate, and improve work 保证了系统运行的可靠性，降低了维修率，提高了工作效率
efficiency. Machine hand technology related to mechanics, mechanics, electrical hydraulic 机械手技术涉及到力学、机械学、电气液压技术、
technology, automatic control technology, sensor technology and computer technology and other 自动控制技术、传感器技术和计算机技术等学科领域，
fields of science, is a cross-disciplinary technology.
是一门跨学科综合技术
1. An overview of industrial manipulator
1工业机械手的概述
Machine hand is a kind of positioning control which can be automated and can be
机械手是一种能自动化定位控制并可
re-programmed to change in multi-functional machine, which has multiple degrees of freedom can 重新编程序以变动的多功能机器，它有多个自由度，
be used to carry an object in order to complete the work in different environments. Low wages in 可用来搬运物体以完成在各个不同环境中工作。在工资水平较低 China, plastic products industry, although still a labor-intensive, mechanical hand use has become 的中国，塑料制品行业尽管仍属于劳动力密集型，机械手的使用已经 increasingly popular. Electronics and automotive industries that Europe and the Unites States 越来越普及。那些电子和汽车业的欧美跨国公司很早就在它们设在中 multinational companies very early in their factories in China, the introduction of automated 国的工厂中引进了自动化生产。
production. But now the changes are those found in industrial-intensive South China, East China’s
但现在的变化是那些分布在工业密集的华南/华东沿海地区的 coastal areas, local
plastic processing plants have also emerged in mechanical watches began to become increasingly 中国本土塑料加工厂也开始对机械手表现出越来越浓厚的兴趣,
interested in, because they have to face a high turnover rate of workers, as well as for the workers 因为他们要面对工人流失率高,
to pay work-related injuries fee challenges.
工人交工伤费带来的挑战。
With the rapid development of China’s industrial production, especially the reform and 随着我国工业生产的飞跃发展，特别是改革
opening up after the rapid increase in the degree of automation to achieve the work piece 开放以后，自动化程度的迅速提高，实现工件的装卸、
handling, steering, transmission or operation of brazing, spray gun, wrenches and other tools for 转向、输送或操作钎焊、喷枪、扳手等工具进行加工、
processing and assembly operations since, which has more and more attracted our attention. 装配等作业自动化，已越来越引起我们的重视。
Machine hand is to imitate the manual part of the action, according to a given program, track 机械手是模仿着人手的部分动作，按给定的程序、
and requirements for automatic capture, handling or operation of the automatic mechanical 轨迹和要求实现自动抓取、搬运或操作的自动机械装置。 devices.
In real life, you will find this a problem. In the machine shop, the processing of parts loading 在现实生活中，你是否会发现这样一个问题：在机械工厂里， time is not annoying, and labor productivity is not high, the cost of production major, and 加工零件装料的时候是不是很麻烦的，劳动生产率不高，生产成本 sometimes man-made incidents will occur, resulting in processing were injures. Think about what 大，有时候还会发生一些人为事故，导致加工者受伤。想想看
could replace it with the processing time of a tour as long as there are a few people, and can 用什么可以代替呢，加工的时候只要有几个人巡视一下，
operate 24 hours saturated human right? The answer is yes, but the machine hand can come to 且可以24小时饱和运作，人行吗? 回答是肯定的，但是机械式可以 replace it.
来代替它。
Production of mechanical hand can increase the automation level of production and labor 生产中应用机械手可以提高生产的自动化水平和劳动生产率； productivity; can reduce labor intensity, ensuring product quality, to achieve safe production;
可以减轻劳动强度、保证产品质量、实现安全生产；
particularly in the high-temperature, high pressure, low temperature, low pressure, dust, explosive, 尤其是在高温、高压、低温、低压、粉尘、易爆、
toxic and radioactive gases such as poor environment can replace the normal working people. 有毒气体和放射性等恶劣的环境中能够代替人进行正常工作。 Here I would like to think of designing a machine hand to be used in actual production.
想到这我就很想设计一个机械手用于生产实际当中。
Why would a machine hand designed to provide a pneumatic power: pneumatic machine 为什么选择设计机械手用气动来提供动力：气动机械手
hand refers to the compressed air as power source-driven machine hand. With pressure-driven and 是指以压缩空气为动力源驱动的机械手。用气压驱动
other energy-driven comparison have the following advantages:
与其他能源驱动比较有以下有点：
1. Air inexhaustible, used later discharged into the atmosphere, does not require recycling and 1.空气取之不竭，用之果后排入大气，不育要回收和处理， disposal, do not pollute the environment. (Concept of environmental protection)
不污染环境。（环保的概念）
2. Air stick is small, the pipeline pressure loss is small (typically less than asphalt gas path 2.空气的沾性很小，管路中压力损失也小（一般气路阻力损失不 pressure drop of one-thousandth), to facilitate long-distance transport.
到油路的千分之一），便于远距离输送。
3. Compressed air of the working pressure is low (usually 4 to 8 kg/per square centimeter), 3.压缩空气的工作压力较低（一般为4-8公斤/每平方厘米）， and therefore moving the material components and manufacturing accuracy requirements can be 因此对动元件的材质和制造精度要求可以
lowered.
降低。
4. With the hydraulic transmission, compared to its faster action and reaction, which is one of 4.与液压传动相比，它的动作和反应都快，
the advantages pneumatic outstanding.
这是气动突出的优点之一。
5. The air cleaner media, it will not degenerate, not easy to plug the pipeline.
5.空气介质清洁，亦不会变质，管路不易堵塞。
But there are also places where it flies in the ointment:
但是也有它美中不足的地方：
1. As the compressibility of air, resulting in poor aerodynamic stability of the work, resulting 1.由于空气的可压缩性，只是气动工作的稳定性差，因而造成 in the implementing agencies as the precision of the velocity and not easily controlled. 执行机构运动速度和定位精度不易控制。
2. As the use of low atmospheric pressure, the output power cannot be too large; in order to 2.由于使用气压较低，输出力不可能太大，为了
increase the output power is bound to the structure of the entire pneumatic system size increased.
增加输出力，必然使整个气动系统的结构尺寸加大。
2. The composition, mechanical hand
2机械手的组成
Machine hand in the form of a variety of forms, some relatively simple, some more 机械手的形式是多种多样的，有的较为简单,有的较为
complicated, but the basic form is the same as the composition of the, usually by the implementing 复杂，但基本的组成形式是相同的，一般由执行机构、
agencies, transmission systems, control systems and auxiliary devices composed.
传动系统、控制系统和辅助装置组成。
1. Implementing agencies
1.执行机构
Manipulator executing agency by the hands, wrists, arm, pillars. Hands are crawling 机械手的执行机构，由手、手腕、手臂、支柱组成。
institutions, is used to clamp and release the work piece, and similar to human fingers, to complete 手是抓取机构，用来加紧和松开工件，与人的手指相仿，能够完成 the staffing of similar actions. Wrist and fingers and the arm connecting the components can be up 人手的类似动作。手腕是连接手指与手臂的元件，可以进行
and down, left, and rotary movement. A simple mechanical hand cannot wrist. Pillars used to 上下、左右和回转动作。简单的机械手可以没有手腕。支柱用来支撑 support the arm can also be made mobile as needed.
手臂，也可以根据与要做成移动。
2. Transmission
2.传动系统
The actuator to be achieved by the transmission system. Sub-transmission system commonly 执行机构的动作要由传动系统来实现。常用
used manipulator mechanical transmission, hydraulic transmission, pneumatic and electric power 机械手传动系统分为机械传动、液压传动、
transmission and other drive several forms.
气压传动和电力传动等几种形式。
3. Control System
3.控制系统
Manipulator control system’s main role is to control the machine hand according to certain 机械手控制系统的主要作用是控制机械手按一定的
procedures, direction, position, speed of action, a simple mechanical hand is generally not set up a 程序、方向、位置、速度进行动作，简单的机械手一般不设置专用 dedicated control system, using only trip switches, relays, control valves and circuits can be 的控制系统，只采用行程开关、继电器、控制阀及电路
achieved dynamic drive system control, so that implementing agencies according to the 便可以实现传动系统的控制，使执行机构
requirements of action. Action will have to use complex programmable machine hand controller, 按要求进行动作。动作复杂的机械手则要求采用可编程控制器、 the micro-computer control..
微型计算机进行控制。
3. Mechanical hand classification and characteristics
3机械手的分类和特点
Machine hands are generally divided into three categories: the first is the general machinery 机械手一般分为三类：第一类是不需要人工操作的
does not require manual hand. It is an independent not affiliated with a particular host device. It 通用机械手。它是一种独立的不附属于某一主机的装置。
can be programmed according to the needs of the task to complete the operation of the provisions. 它可以根据任务的需要编制程序，以完成各项规定的操作。
It is characterized with ordinary mechanical performance, also has general machinery, memory, 它的特点是具备普通机械的性能之外，还具备通用机械、记忆智能 intelligence ternary machinery. The second category is the need to manually do it, called the
的三元机械。第二类是需要人工才做的，
operation of aircraft. It originated in the atom, military industry, first through the operation of 成为操作机。它起源于原子、军事工业，先是通过操作机
machines to complete a particular job, and later developed to operate using radio signals to carry 来完成特定的作业，后来发展到用无线电讯号操作机
out detecting machines such as the Moon. Used in industrial manipulator also fall into this 来进行探测月球等。工业中采用的锻造操作机也属于这一
category. The third category is dedicated manipulator, the main subsidiary of the automatic 范畴。第三类是专用机械手，主要附属于自动机床
or automatic lines, to solve the machine up and down the work piece material and delivery. This 或自动线上，用以解决机床上下料和工件传送，
mechanical hand in foreign countries known as the “Mechanical Hand”, which is the host of 这类机械手在国外称为“Mechanical Hand” 它是为主机服务的， services, from the host-driven; exception of a few outside the working procedures are generally 由主机驱动；除少数外，工作程序一般是固定的，
fixed, and therefore special.
因此是专用的。
Main features
主要特点：
First, mechanical hand (the upper and lower material machine hand, assembly machine hand, （1）机械手（上下料机械手、装配机械手、
handling machine hand, stacking machine hand, help machine hand, vacuum handling machines, 搬运机械手、堆垛机械手、助力机械手、真空搬运机、
vacuum suction crane, labor-saving spreader, pneumatic balancer,etc.)
真空吸吊机、省力吊具、气动平衡器等）。
Second, cantilever cranes (cantilever crane, electric chain hoist crane, air balance the hanging, etc.)
（2）悬臂起重机（悬臂吊、电动环链葫芦吊、气动平衡吊等）。 Third, rail-type transport system (hanging rail, light rail, single girder cranes, double-beam
crane)
(3）导轨式搬运系统（悬挂轨道、轻型轨道、单梁起重机、双梁起重机）。
Four, industrial machinery, application of hand
（4）工业机械手的应用
Manipulator in the mechanization and automation of the production process developed a new 机械手是在机械化、自动化生产过程中发展起来的一种新型装置。 type of device. In recent years, as electronic technology, especially computer extensive use of 近年来，随着电子技术特别是电子计算机的广泛应用，
machine hand development and production of high-tech fields has become a rapidly developed a 机器人的研制和生产已成为高技术领域内迅速发展起来的
new technology, which further promoted the development of machine hand, allowing machine 一门新兴技术，它更加促进了机械手的发展，使得机械手
hand to better achieved with the combination of mechanization and automation.
能更好地实现与机械化自动化的有机结合。
Although the machine hand is not as flexible as staff, but it has to the continuous duplication 机械手虽然目前还不如人手那样灵活，但它具有能不断
of work and labor, I do not know fatigue, not afraid of danger, the power snatch weight 重复工作和劳动、不知疲劳、不怕危险、抓举重物的力量
characteristics when compared with manual large, therefore, mechanical hand has been applied 比人手大等特点，因此，机械手已受到许多部门的重视，并越来越 widely, for example:
广泛地得到了应用，例如： a) Machining the work piece loading and unloading, especially in the automatic lathe,
机床加工工件的装卸，特别是在自动化车床，
combination machine tool use is more common.
组合机床上使用较为普遍。
b) In the assembly operations are widely used in the electronics industry, it can be used to 在装配作业中应用广泛，在电子行业中它可以用来装配
assemble printed circuit boards, in the machinery industry. It can be used to assemble parts 印制电路板，在机械行业中,它可以用来组装零部件。
and components.
c) The working conditions may be poor, monotonous, repetitive easy to sub-fatigue working 可在劳动条件差，单调重复易疲劳的工作环境工作，
environment to replace human labor.
以代替认的劳动。
d) May be in dangerous situations, such as military goods handling, dangerous goods and 可以在危险场合下工作，如军工品的装卸、危险品及
hazardous material removal and so on.
有害物的搬运等。
e) Universe and ocean development.
宇宙及海洋的开发。
f) Military engineering and biomedical research and testing.
军事工程及生物医学方面的研究和实验。
Help mechanical hand: all know as the balancer, balance suspended, labor-saving 助力机械手：又称平衡器、平衡吊、省力吊具、
spreader, manual Transfer machine is a kind of weightlessness of manual load system, a novel, 手动移载机等，是一种无重力化手动承载系统，一种新颖的、
time-saving technology for material handling operations booster equipment, belonging to kinds of 用于物料搬运时省力化操作的助力设备，属于一种非标设计的系列化 non-standard design of series products. Customer applications needs, creating customized cases.
产品。针对客户应用需求，量身定制的个案创作。
Manual operation of a simulation of the automatic machinery, it can be a fixed program 一种模拟人手操作的自动机械，它可按固定程序抓取、
draws, handling objections or perform household tools to accomplish certain specific actions. 搬运物件或操持工具完成某些特定操作。
Application of machine hand can replace the people engaged in monotonous, repetitive or heavy
应用机械手可以代替人从事单调、重复或繁重的体力劳动，
manual labor, the mechanization and automation of production, instead of people in hazardous 实现生产的机械化和自动化，代替人在有害的环境下的手工操作， environments manual operation, improving working conditions and ensure personal safely. The 改善劳动条件，保证人身安全。
late 20th century,40, the United Stated atomic energy experiment, the first use of radioactive 20世纪40年代后期，美国在原子能试验中，首先采用机械 material handling machine hand, human machine hand in a safe room to manipulator and 手搬运放射性材料，人在安全室操纵机械
gradually extended to industrial production sector, for the temperatures, polluted areas, and 手进行各种操作和实验。机械手逐步推广到工业生产部门，用于在loading and unloading to take place the work piece material, but also as an auxiliary device in 高温、污染严重的地方取放工件和装卸材料，也作为机床的辅助 automatic machine tools, machine tools, automatic production lines and processing center 装置在自动机床、自动生产线和加工中心中应用，
applications, the completion of the upper and lower material. Machine hand body mainly by the 完成上下料或从刀库中取放道具并按固定程序更换刀具等操作。 hand and sport institutions. Agencies with the use of hands and operation of objects of different 机械手主要有手部机构和运动机构组成。手部机构随使用场合和 occasions, often there are clamping, support and adsorption type of care. Movement organs are 操作对象而不同，常见的有加持、托持和吸附等类型。
generally hydraulic pneumatic, electrical device drivers. Manipulator can be achieved indecently 运动机构一般由液压、气动、电气装置驱动。机械手可独立地实现retractable, rotation and lifting movements, generally 2 to 3 degrees of freedom. Machine hands 伸缩、旋转和升降等运动，一般有2~3个自由度。
are widely used in metallurgical industry, machinery manufacture, light industry and atomic 机械手广泛用于机械制造、冶金、轻功和原子能等部门。 energy sectors.
It can replace human labor in order to achieve the production of heavy mechanization and
能模仿人手和臂的某些动作功能，用以按固定程序抓取、搬运物件 automation that can operate in hazardous environment to protect the personal safety, which is 或操作工具的自动操作装置。它可代替人的繁重劳动以实现生产的机 widely used in machinery manufacturing, metallurgy, electronics, light industry and nuclear power 械化和自动化，能在有害环境下操作以保护人身安全，因而广泛应用于机械制造、冶金、电子、轻工和原子能等部门。
sectors. Mechanical hand tools or other equipment commonly used for additional devices, such as 机械手通常用作机床或其他机器的附加装置， 如在自动机床 the automatic machines or automatic production line handling and transmission of the work piece, 或自动生产线上装卸和传递工件，
the replacement of cutting tools in machining centers ,etc. generally do not have a separate control 在加工中心更换刀具等，一般没有独立的控制装置。
device. Some operating devices require direct manipulation by humans such as the atomic energy 有些操作装置需要由人直接操纵如用于原子能部门
sector performs household hazardous material used in the master-slave manipulator is also often 操持危险物品的主从式操作手也常称为机械手。
referred to as mechanical hand.
Manipulator mainly by hand and sport institutions. Task of hand is holding the work piece (or 机械手主要由手部和运动机构组成。手部是用来抓持工件
tool) components, according to grasping objects by shape, size, weight, material and operational （或工具）的部件，根据被抓持物件的形状、尺寸、重量、材料 requirements of a variety of structural forms, such as clamp type, type and adsorption of a variety 和作业要求而有有多种结构形式，如加持型、托持型和吸附型等。 of hand rotation (swing), mobile or compound movements to achieve the required action, to 运动机构，使手部完成各种转动（摆动）、移动或复合运动来实现规定的动作，
change the location of objects by grasping and posture.
改变被抓持物件的位置和姿势。
Machine hand is the automated production of a kind used in the process of crawling and 机械手是在自动化生产过程中使用的一种具有抓取和移动工件功 moving piece features automatic device, which is mechanized and automated production process 能的自动化装置，它是在机械化自动化生产过程中发展起来的一种新 developed a new type of device. In recently years, as electronic technology, especially computer 型装置。近年来，随着电子技术特别是电子计算机的广泛应用，
extensive use of machine hand development and product of high-tech fields has become a rapidly 机器人的研制和生产已成为高技术领域内迅速发展起来的 developed a new technology, which further promoted the development of machine hand, allowing 一门新兴技术，它更加促进了机械手的发展，
machine hand to better achieved with the combination of mechanization and automation. Machine 使得经销商能更好地实现与机械化和自动化的有机结合。
hand can replace humans completed the risk of duplications of boring work, to reduce human 机械手能代替人类完成危险、重复枯燥的工作，
labor intensity and improve labor productivity. Manipulator has been applied more and more 减轻人类劳动强度，提高劳动生产力。机械手越来越得到了
widely, in the machinery industry, it can be used for parts assembly, work piece handling, loading 广泛的应用，在机械行业中它可用于零部件的组装，加工工件的搬运、 and unloading, particularly in the automation of CNC machine tools, modular machine tools more 装卸，特别是在自动化数控机床、组合机床上使用更普遍。
commonly used. At present, the machine hand has developed into a FMS flexible manufacturing
目前，机械手已发展成为柔性制造系统FMS
systems and flexible manufacturing cell in an important component of the FMC. The machine tool 和柔性制造单元FMC中一个重要组成部分。机床设备和
equipment and machinery in hand together constitute a flexible manufacturing system or a flexible 机械手共同构成一个柔性加工系统或柔性制造单元，
manufacturing cell, it was adapted to small and medium volume production, you can save a huge
它适用于中、小批量生产，可以节省庞大的工件输送装置，
amount of the work piece conveyor device, compact, and adaptable. When the work piece
changes,
结构紧凑，而且适应性很强。当工件变更时，柔性生产系统很容易 flexible production system is very easy to change will help enterprises to continuously update the 改变，有利于企业不断更新适销对路的品种，
marketable variety, improve product quality, and better adapt to market competition. At present, 提高产品质量。 更好地适应市场竞争的需要。
China’s industrial machine hand technology and its engineering application level and comparable 而目前我国的工业机器人技术及其工程应用的水平和国外比
to foreign countries there is a certain distance, application and industrialization of the size of the 还有一定的距离应用规模和产业化水平低，
low level of machine hand research and development of a direct impact on raising the level of 机械手的研究和开发直接影响到我国自动化生产的水平提高， automation in China, from the economy, technical considerations are very necessary. Therefore, 从经济上、技术上考虑都是十分必要的。
the study of mechanical hand design is meaningful.
因此，进行机械手的研究设计是非常有意义的。
The Design of Hand Column Type Power Machine
工业机械手的设计
Serope kalpak jian,Steven R.Schmid
Abstract
摘要
Machine hand developed in recent decades as high-tech automated production equipment. 机械手是近几十年发展起来的一种高科技自动化生产设备。 Industrial machine hand is an important branch of industrial machine hands. It features can be 工业机械手是工业机器人的一个重要分支。它的特点是可通过变成来 programmed tasks in a variety of expectations, in both structure and performance advantages of 完成各种预期的作业任务，在构造和性能上兼有人和机器
their own people and machines, in particular, reflects the people’s intelligence and adaptability. 各自的优点，尤其体现了人的智能和适应性。
The accuracy of machine hand operations and a variety of environments the ability to complete 机械手作业的准确性和在各种坏境中完成作业的能力，
the work in the field of national economy and there are broad prospects for development. With the 在国民经济各领域有着广阔的发簪前景。
development of industrial automation, there has been CNC marching center, it is in reducing labor 随着工业自动化的发展，出现了数控加工中心，他在减轻工
intensity, while greatly improves labor productivity. However, the upper and lower common in 人劳动强度的同时，大大提高了劳动生产率，但数控加工中 CNC marching processes material, usually still use manual or traditional relay-controlled 常见的上下料工序，通常仍采用人工操作或传统继电器控制的半semi-automatic device. The former time-consuming and labor intensive, inefficient; the latter due 自动化装置。前者费时费工，效率低， 后者因设计复杂， to design complexity, require more relays, writing complexity, vulnerability to body vibration 需要较多继电器，接线复杂，易受车体震动干扰，
interference, while the existence of poor reliability, fault more maintenance problems and other 而存在可靠性差，故障多，维修困难等问题。
issues. Programmable Logic Controller PLC-controlled machine hand control system for material 可编程程序控制器PLC控制的上下料机械手控制系统动作简便、 up and down movement is simple, circuit design is reasonable, while a strong anti-jamming 线路设计合理、具有较强的抗干扰能力，
capability, ensuring the system’s reliability, reduced maintenance rate, and improve work 保证了系统运行的可靠性，降低了维修率，提高了工作效率
efficiency. Machine hand technology related to mechanics, mechanics, electrical hydraulic 机械手技术涉及到力学、机械学、电气液压技术、
technology, automatic control technology, sensor technology and computer technology and other 自动控制技术、传感器技术和计算机技术等学科领域，
fields of science, is a cross-disciplinary technology.
是一门跨学科综合技术
1. An overview of industrial manipulator
1工业机械手的概述
Machine hand is a kind of positioning control which can be automated and can be
机械手是一种能自动化定位控制并可
re-programmed to change in multi-functional machine, which has multiple degrees of freedom can 重新编程序以变动的多功能机器，它有多个自由度，
be used to carry an object in order to complete the work in different environments. Low wages in 可用来搬运物体以完成在各个不同环境中工作。在工资水平较低 China, plastic products industry, although still a labor-intensive, mechanical hand use has become 的中国，塑料制品行业尽管仍属于劳动力密集型，机械手的使用已经 increasingly popular. Electronics and automotive industries that Europe and the Unites States 越来越普及。那些电子和汽车业的欧美跨国公司很早就在它们设在中 multinational companies very early in their factories in China, the introduction of automated 国的工厂中引进了自动化生产。
production. But now the changes are those found in industrial-intensive South China, East China’s
但现在的变化是那些分布在工业密集的华南/华东沿海地区的 coastal areas, local
plastic processing plants have also emerged in mechanical watches began to become increasingly 中国本土塑料加工厂也开始对机械手表现出越来越浓厚的兴趣,
interested in, because they have to face a high turnover rate of workers, as well as for the workers 因为他们要面对工人流失率高,
to pay work-related injuries fee challenges.
工人交工伤费带来的挑战。
With the rapid development of China’s industrial production, especially the reform and 随着我国工业生产的飞跃发展，特别是改革
opening up after the rapid increase in the degree of automation to achieve the work piece 开放以后，自动化程度的迅速提高，实现工件的装卸、
handling, steering, transmission or operation of brazing, spray gun, wrenches and other tools for 转向、输送或操作钎焊、喷枪、扳手等工具进行加工、
processing and assembly operations since, which has more and more attracted our attention. 装配等作业自动化，已越来越引起我们的重视。
Machine hand is to imitate the manual part of the action, according to a given program, track 机械手是模仿着人手的部分动作，按给定的程序、
and requirements for automatic capture, handling or operation of the automatic mechanical 轨迹和要求实现自动抓取、搬运或操作的自动机械装置。 devices.
In real life, you will find this a problem. In the machine shop, the processing of parts loading 在现实生活中，你是否会发现这样一个问题：在机械工厂里， time is not annoying, and labor productivity is not high, the cost of production major, and 加工零件装料的时候是不是很麻烦的，劳动生产率不高，生产成本 sometimes man-made incidents will occur, resulting in processing were injures. Think about what 大，有时候还会发生一些人为事故，导致加工者受伤。想想看
could replace it with the processing time of a tour as long as there are a few people, and can 用什么可以代替呢，加工的时候只要有几个人巡视一下，
operate 24 hours saturated human right? The answer is yes, but the machine hand can come to 且可以24小时饱和运作，人行吗? 回答是肯定的，但是机械式可以 replace it.
来代替它。
Production of mechanical hand can increase the automation level of production and labor 生产中应用机械手可以提高生产的自动化水平和劳动生产率； productivity; can reduce labor intensity, ensuring product quality, to achieve safe production;
可以减轻劳动强度、保证产品质量、实现安全生产；
particularly in the high-temperature, high pressure, low temperature, low pressure, dust, explosive, 尤其是在高温、高压、低温、低压、粉尘、易爆、
toxic and radioactive gases such as poor environment can replace the normal working people. 有毒气体和放射性等恶劣的环境中能够代替人进行正常工作。 Here I would like to think of designing a machine hand to be used in actual production.
想到这我就很想设计一个机械手用于生产实际当中。
Why would a machine hand designed to provide a pneumatic power: pneumatic machine 为什么选择设计机械手用气动来提供动力：气动机械手
hand refers to the compressed air as power source-driven machine hand. With pressure-driven and 是指以压缩空气为动力源驱动的机械手。用气压驱动
other energy-driven comparison have the following advantages:
与其他能源驱动比较有以下有点：
1. Air inexhaustible, used later discharged into the atmosphere, does not require recycling and 1.空气取之不竭，用之果后排入大气，不育要回收和处理， disposal, do not pollute the environment. (Concept of environmental protection)
不污染环境。（环保的概念）
2. Air stick is small, the pipeline pressure loss is small (typically less than asphalt gas path 2.空气的沾性很小，管路中压力损失也小（一般气路阻力损失不 pressure drop of one-thousandth), to facilitate long-distance transport.
到油路的千分之一），便于远距离输送。
3. Compressed air of the working pressure is low (usually 4 to 8 kg/per square centimeter), 3.压缩空气的工作压力较低（一般为4-8公斤/每平方厘米）， and therefore moving the material components and manufacturing accuracy requirements can be 因此对动元件的材质和制造精度要求可以
lowered.
降低。
4. With the hydraulic transmission, compared to its faster action and reaction, which is one of 4.与液压传动相比，它的动作和反应都快，
the advantages pneumatic outstanding.
这是气动突出的优点之一。
5. The air cleaner media, it will not degenerate, not easy to plug the pipeline.
5.空气介质清洁，亦不会变质，管路不易堵塞。
But there are also places where it flies in the ointment:
但是也有它美中不足的地方：
1. As the compressibility of air, resulting in poor aerodynamic stability of the work, resulting 1.由于空气的可压缩性，只是气动工作的稳定性差，因而造成 in the implementing agencies as the precision of the velocity and not easily controlled. 执行机构运动速度和定位精度不易控制。
2. As the use of low atmospheric pressure, the output power cannot be too large; in order to 2.由于使用气压较低，输出力不可能太大，为了
increase the output power is bound to the structure of the entire pneumatic system size increased.
增加输出力，必然使整个气动系统的结构尺寸加大。
2. The composition, mechanical hand
2机械手的组成
Machine hand in the form of a variety of forms, some relatively simple, some more 机械手的形式是多种多样的，有的较为简单,有的较为
complicated, but the basic form is the same as the composition of the, usually by the implementing 复杂，但基本的组成形式是相同的，一般由执行机构、
agencies, transmission systems, control systems and auxiliary devices composed.
传动系统、控制系统和辅助装置组成。
1. Implementing agencies
1.执行机构
Manipulator executing agency by the hands, wrists, arm, pillars. Hands are crawling 机械手的执行机构，由手、手腕、手臂、支柱组成。
institutions, is used to clamp and release the work piece, and similar to human fingers, to complete 手是抓取机构，用来加紧和松开工件，与人的手指相仿，能够完成 the staffing of similar actions. Wrist and fingers and the arm connecting the components can be up 人手的类似动作。手腕是连接手指与手臂的元件，可以进行
and down, left, and rotary movement. A simple mechanical hand cannot wrist. Pillars used to 上下、左右和回转动作。简单的机械手可以没有手腕。支柱用来支撑 support the arm can also be made mobile as needed.
手臂，也可以根据与要做成移动。
2. Transmission
2.传动系统
The actuator to be achieved by the transmission system. Sub-transmission system commonly 执行机构的动作要由传动系统来实现。常用
used manipulator mechanical transmission, hydraulic transmission, pneumatic and electric power 机械手传动系统分为机械传动、液压传动、
transmission and other drive several forms.
气压传动和电力传动等几种形式。
3. Control System
3.控制系统
Manipulator control system’s main role is to control the machine hand according to certain 机械手控制系统的主要作用是控制机械手按一定的
procedures, direction, position, speed of action, a simple mechanical hand is generally not set up a 程序、方向、位置、速度进行动作，简单的机械手一般不设置专用 dedicated control system, using only trip switches, relays, control valves and circuits can be 的控制系统，只采用行程开关、继电器、控制阀及电路
achieved dynamic drive system control, so that implementing agencies according to the 便可以实现传动系统的控制，使执行机构
requirements of action. Action will have to use complex programmable machine hand controller, 按要求进行动作。动作复杂的机械手则要求采用可编程控制器、 the micro-computer control..
微型计算机进行控制。
3. Mechanical hand classification and characteristics
3机械手的分类和特点
Machine hands are generally divided into three categories: the first is the general machinery 机械手一般分为三类：第一类是不需要人工操作的
does not require manual hand. It is an independent not affiliated with a particular host device. It 通用机械手。它是一种独立的不附属于某一主机的装置。
can be programmed according to the needs of the task to complete the operation of the provisions. 它可以根据任务的需要编制程序，以完成各项规定的操作。
It is characterized with ordinary mechanical performance, also has general machinery, memory, 它的特点是具备普通机械的性能之外，还具备通用机械、记忆智能 intelligence ternary machinery. The second category is the need to manually do it, called the
的三元机械。第二类是需要人工才做的，
operation of aircraft. It originated in the atom, military industry, first through the operation of 成为操作机。它起源于原子、军事工业，先是通过操作机
machines to complete a particular job, and later developed to operate using radio signals to carry 来完成特定的作业，后来发展到用无线电讯号操作机
out detecting machines such as the Moon. Used in industrial manipulator also fall into this 来进行探测月球等。工业中采用的锻造操作机也属于这一
category. The third category is dedicated manipulator, the main subsidiary of the automatic 范畴。第三类是专用机械手，主要附属于自动机床
or automatic lines, to solve the machine up and down the work piece material and delivery. This 或自动线上，用以解决机床上下料和工件传送，
mechanical hand in foreign countries known as the “Mechanical Hand”, which is the host of 这类机械手在国外称为“Mechanical Hand” 它是为主机服务的， services, from the host-driven; exception of a few outside the working procedures are generally 由主机驱动；除少数外，工作程序一般是固定的，
fixed, and therefore special.
因此是专用的。
Main features
主要特点：
First, mechanical hand (the upper and lower material machine hand, assembly machine hand, （1）机械手（上下料机械手、装配机械手、
handling machine hand, stacking machine hand, help machine hand, vacuum handling machines, 搬运机械手、堆垛机械手、助力机械手、真空搬运机、
vacuum suction crane, labor-saving spreader, pneumatic balancer,etc.)
真空吸吊机、省力吊具、气动平衡器等）。
Second, cantilever cranes (cantilever crane, electric chain hoist crane, air balance the hanging, etc.)
（2）悬臂起重机（悬臂吊、电动环链葫芦吊、气动平衡吊等）。 Third, rail-type transport system (hanging rail, light rail, single girder cranes, double-beam
crane)
(3）导轨式搬运系统（悬挂轨道、轻型轨道、单梁起重机、双梁起重机）。
Four, industrial machinery, application of hand
（4）工业机械手的应用
Manipulator in the mechanization and automation of the production process developed a new 机械手是在机械化、自动化生产过程中发展起来的一种新型装置。 type of device. In recent years, as electronic technology, especially computer extensive use of 近年来，随着电子技术特别是电子计算机的广泛应用，
machine hand development and production of high-tech fields has become a rapidly developed a 机器人的研制和生产已成为高技术领域内迅速发展起来的
new technology, which further promoted the development of machine hand, allowing machine 一门新兴技术，它更加促进了机械手的发展，使得机械手
hand to better achieved with the combination of mechanization and automation.
能更好地实现与机械化自动化的有机结合。
Although the machine hand is not as flexible as staff, but it has to the continuous duplication 机械手虽然目前还不如人手那样灵活，但它具有能不断
of work and labor, I do not know fatigue, not afraid of danger, the power snatch weight 重复工作和劳动、不知疲劳、不怕危险、抓举重物的力量
characteristics when compared with manual large, therefore, mechanical hand has been applied 比人手大等特点，因此，机械手已受到许多部门的重视，并越来越 widely, for example:
广泛地得到了应用，例如： a) Machining the work piece loading and unloading, especially in the automatic lathe,
机床加工工件的装卸，特别是在自动化车床，
combination machine tool use is more common.
组合机床上使用较为普遍。
b) In the assembly operations are widely used in the electronics industry, it can be used to 在装配作业中应用广泛，在电子行业中它可以用来装配
assemble printed circuit boards, in the machinery industry. It can be used to assemble parts 印制电路板，在机械行业中,它可以用来组装零部件。
and components.
c) The working conditions may be poor, monotonous, repetitive easy to sub-fatigue working 可在劳动条件差，单调重复易疲劳的工作环境工作，
environment to replace human labor.
以代替认的劳动。
d) May be in dangerous situations, such as military goods handling, dangerous goods and 可以在危险场合下工作，如军工品的装卸、危险品及
hazardous material removal and so on.
有害物的搬运等。
e) Universe and ocean development.
宇宙及海洋的开发。
f) Military engineering and biomedical research and testing.
军事工程及生物医学方面的研究和实验。
Help mechanical hand: all know as the balancer, balance suspended, labor-saving 助力机械手：又称平衡器、平衡吊、省力吊具、
spreader, manual Transfer machine is a kind of weightlessness of manual load system, a novel, 手动移载机等，是一种无重力化手动承载系统，一种新颖的、
time-saving technology for material handling operations booster equipment, belonging to kinds of 用于物料搬运时省力化操作的助力设备，属于一种非标设计的系列化 non-standard design of series products. Customer applications needs, creating customized cases.
产品。针对客户应用需求，量身定制的个案创作。
Manual operation of a simulation of the automatic machinery, it can be a fixed program 一种模拟人手操作的自动机械，它可按固定程序抓取、
draws, handling objections or perform household tools to accomplish certain specific actions. 搬运物件或操持工具完成某些特定操作。
Application of machine hand can replace the people engaged in monotonous, repetitive or heavy
应用机械手可以代替人从事单调、重复或繁重的体力劳动，
manual labor, the mechanization and automation of production, instead of people in hazardous 实现生产的机械化和自动化，代替人在有害的环境下的手工操作， environments manual operation, improving working conditions and ensure personal safely. The 改善劳动条件，保证人身安全。
late 20th century,40, the United Stated atomic energy experiment, the first use of radioactive 20世纪40年代后期，美国在原子能试验中，首先采用机械 material handling machine hand, human machine hand in a safe room to manipulator and 手搬运放射性材料，人在安全室操纵机械
gradually extended to industrial production sector, for the temperatures, polluted areas, and 手进行各种操作和实验。机械手逐步推广到工业生产部门，用于在loading and unloading to take place the work piece material, but also as an auxiliary device in 高温、污染严重的地方取放工件和装卸材料，也作为机床的辅助 automatic machine tools, machine tools, automatic production lines and processing center 装置在自动机床、自动生产线和加工中心中应用，
applications, the completion of the upper and lower material. Machine hand body mainly by the 完成上下料或从刀库中取放道具并按固定程序更换刀具等操作。 hand and sport institutions. Agencies with the use of hands and operation of objects of different 机械手主要有手部机构和运动机构组成。手部机构随使用场合和 occasions, often there are clamping, support and adsorption type of care. Movement organs are 操作对象而不同，常见的有加持、托持和吸附等类型。
generally hydraulic pneumatic, electrical device drivers. Manipulator can be achieved indecently 运动机构一般由液压、气动、电气装置驱动。机械手可独立地实现retractable, rotation and lifting movements, generally 2 to 3 degrees of freedom. Machine hands 伸缩、旋转和升降等运动，一般有2~3个自由度。
are widely used in metallurgical industry, machinery manufacture, light industry and atomic 机械手广泛用于机械制造、冶金、轻功和原子能等部门。 energy sectors.
It can replace human labor in order to achieve the production of heavy mechanization and
能模仿人手和臂的某些动作功能，用以按固定程序抓取、搬运物件 automation that can operate in hazardous environment to protect the personal safety, which is 或操作工具的自动操作装置。它可代替人的繁重劳动以实现生产的机 widely used in machinery manufacturing, metallurgy, electronics, light industry and nuclear power 械化和自动化，能在有害环境下操作以保护人身安全，因而广泛应用于机械制造、冶金、电子、轻工和原子能等部门。
sectors. Mechanical hand tools or other equipment commonly used for additional devices, such as 机械手通常用作机床或其他机器的附加装置， 如在自动机床 the automatic machines or automatic production line handling and transmission of the work piece, 或自动生产线上装卸和传递工件，
the replacement of cutting tools in machining centers ,etc. generally do not have a separate control 在加工中心更换刀具等，一般没有独立的控制装置。
device. Some operating devices require direct manipulation by humans such as the atomic energy 有些操作装置需要由人直接操纵如用于原子能部门
sector performs household hazardous material used in the master-slave manipulator is also often 操持危险物品的主从式操作手也常称为机械手。
referred to as mechanical hand.
Manipulator mainly by hand and sport institutions. Task of hand is holding the work piece (or 机械手主要由手部和运动机构组成。手部是用来抓持工件
tool) components, according to grasping objects by shape, size, weight, material and operational （或工具）的部件，根据被抓持物件的形状、尺寸、重量、材料 requirements of a variety of structural forms, such as clamp type, type and adsorption of a variety 和作业要求而有有多种结构形式，如加持型、托持型和吸附型等。 of hand rotation (swing), mobile or compound movements to achieve the required action, to 运动机构，使手部完成各种转动（摆动）、移动或复合运动来实现规定的动作，
change the location of objects by grasping and posture.
改变被抓持物件的位置和姿势。
Machine hand is the automated production of a kind used in the process of crawling and 机械手是在自动化生产过程中使用的一种具有抓取和移动工件功 moving piece features automatic device, which is mechanized and automated production process 能的自动化装置，它是在机械化自动化生产过程中发展起来的一种新 developed a new type of device. In recently years, as electronic technology, especially computer 型装置。近年来，随着电子技术特别是电子计算机的广泛应用，
extensive use of machine hand development and product of high-tech fields has become a rapidly 机器人的研制和生产已成为高技术领域内迅速发展起来的 developed a new technology, which further promoted the development of machine hand, allowing 一门新兴技术，它更加促进了机械手的发展，
machine hand to better achieved with the combination of mechanization and automation. Machine 使得经销商能更好地实现与机械化和自动化的有机结合。
hand can replace humans completed the risk of duplications of boring work, to reduce human 机械手能代替人类完成危险、重复枯燥的工作，
labor intensity and improve labor productivity. Manipulator has been applied more and more 减轻人类劳动强度，提高劳动生产力。机械手越来越得到了
widely, in the machinery industry, it can be used for parts assembly, work piece handling, loading 广泛的应用，在机械行业中它可用于零部件的组装，加工工件的搬运、 and unloading, particularly in the automation of CNC machine tools, modular machine tools more 装卸，特别是在自动化数控机床、组合机床上使用更普遍。
commonly used. At present, the machine hand has developed into a FMS flexible manufacturing
目前，机械手已发展成为柔性制造系统FMS
systems and flexible manufacturing cell in an important component of the FMC. The machine tool 和柔性制造单元FMC中一个重要组成部分。机床设备和
equipment and machinery in hand together constitute a flexible manufacturing system or a flexible 机械手共同构成一个柔性加工系统或柔性制造单元，
manufacturing cell, it was adapted to small and medium volume production, you can save a huge
它适用于中、小批量生产，可以节省庞大的工件输送装置，
amount of the work piece conveyor device, compact, and adaptable. When the work piece
changes,
结构紧凑，而且适应性很强。当工件变更时，柔性生产系统很容易 flexible production system is very easy to change will help enterprises to continuously update the 改变，有利于企业不断更新适销对路的品种，
marketable variety, improve product quality, and better adapt to market competition. At present, 提高产品质量。 更好地适应市场竞争的需要。
China’s industrial machine hand technology and its engineering application level and comparable 而目前我国的工业机器人技术及其工程应用的水平和国外比
to foreign countries there is a certain distance, application and industrialization of the size of the 还有一定的距离应用规模和产业化水平低，
low level of machine hand research and development of a direct impact on raising the level of 机械手的研究和开发直接影响到我国自动化生产的水平提高， automation in China, from the economy, technical considerations are very necessary. Therefore, 从经济上、技术上考虑都是十分必要的。
the study of mechanical hand design is meaningful.
因此，进行机械手的研究设计是非常有意义的。