液压机械手结构简介

冲床冲压机械手常用的驱动机构主要有三种：液压驱动、气压驱动、电气驱动。其中以液压驱动、电气驱动用得最多。

Punch press manipulator commonly used driving mechanism there are three main types: hydraulic drive, pneumatic drive, electrical drive. Among them, hydraulic drive and electric drive are the most widely used.1、液压驱动式，液压驱动式冲床冲压机械手通常由液动机(各种油缸、油马达)、伺服阀、油泵、油箱等组成驱动系统，由驱动机械手执行机构进行工作。通常它的具有很大的抓举能力 (高达几百千克以上)，其特点是结构紧凑、动作平稳、耐冲击、耐震动、防爆性好，但液压元件要求有较高的制造精度和密封性能，否则漏油将污染环境。

1. Hydraulic driven, hydraulic driven punch press usually consists of a hydraulic drive (a variety of oil cylinders, oil motors), servo valves, oil pumps, oil tanks and other driving systems, which are driven by the actuating mechanism of the manipulator. Usually it has a large capacity of snatch (up to hundreds of kilograms). It is characterized by compact structure, smooth movement, impact resistance, shock resistance, and explosion proof, but the hydraulic components require high manufacturing precision and sealing performance, otherwise the oil leakage will pollute the environment.

液压机械手结构简介

2、气压驱动式冲床冲压机械手系统通常由气缸、气阀、气罐和空压机组成，其特点是气源方便、动作迅速、结构简单、造价较低、维修方便。但难以进行速度控制，气压不可太高，故抓举能力较低。

2. The pressure driven punch press manipulator system is usually composed of cylinder, air valve, gas tank and air compressor. It is characterized by convenient gas source, rapid movement, simple structure, low cost and convenient maintenance. But it is difficult to carry out speed control, the air pressure can not be too high, so the snatch ability is low.3、电气驱动式，电力驱动是目前冲压机械手使用得最多的一种驱动方式。其特点是电源方便，响应快，驱动力较大(关节型的持重已达400kg)，信号检测、传动、处理方便，并可采用多种灵活的控制方案。驱动电机一般采用步进电机，直流伺服电机(AC)为主要的驱动方式。由于电机速度高，通常须采用减速机构(如谐波传动、RV摆线针轮传动、齿轮传动、螺旋传动和多杆机构等)，此机械手已开始采用无减速机构的大转矩、低转速电机进行直接驱动(DD)这既可使机构简化，又可提高控制精度。

3, electric drive type, electric drive is the most popular driving method for stamping manipulator at present. It is characterized by convenient power supply, quick response, high driving force (the weight of joint type has reached 400kg), signal detection, transmission and processing are convenient, and a variety of flexible control schemes can be used. Stepper motor is widely used in driving motors, and AC is the main driving mode. Because of the high speed of motor, it is necessary to adopt the deceleration mechanism (such as harmonic drive, RV cycloid drive, gear drive, spiral transmission and multi rod mechanism etc.). This manipulator has begun to use DD (direct drive) with large torque and low speed motor without deceleration mechanism, which can not only simplify the mechanism but also improve the control precision.

总的来说随着2025智能制造政策的实施以来，国内很多企业已经在逐步淘汰传统的生产方式，大力推进机器换人的改造过程，使得我国工业机器人在生产应用中比例也在逐年提高。

In general, with the implementation of the 2025 intelligent manufacturing policy, many domestic enterprises have been phasing out the traditional mode of production and vigorously promoting the transformation process of machine changing, making the proportion of industrial robots in production and application in China increasing year by year.