码垛机器人外文文献及翻译
外文文献：
Technology status and Development trend of Stacking crane
1 Overview
Stacking crane is a special crane as of version of the warehouse and developed to appearSpecial crane, commonly referred to as the pile of chop machine, piling machine is three-dimensional storehouse of the most important lifting transportation equipment, represents the sign of three-dimensional warehouse characteristics. Its main use is:
In the top shelf of the warehouse in orbit, will be located at the mouth of the goods in goods mesh; Or the opposite, take out loans in case the goods to the mouth of roadway, the loading and unloading finish homework. 20 the early 70 s, China began to research the type of machine of roadway when the three-dimensional warehouse, according to not complete count, up to now has been built more than three hundred seats.
Stacking machine as a three-dimensional storehouse of the most important lifting transportation equipment, also obtained fast development.
2 version of the present situation of stacking crane technology.
According to the current machinery industry standard, the position of the stacking crane classification of ways. E.g. by supporting mode, use, the method of control, structure, operation such as classified track. But no matter what type of stacking machine, is general by the mobile mechanism, level of lifting mechanism, manifest Taiwan and goods fork institutions, frame and electrical equipment, and other basic parts.
In the present application of three-dimensional warehouse, stacking machine is the most common in the form of the structure and operation track classification.
2.1 version of the good way of spider crane structure From the structure form difference at present in the warehouse stacker has a double set on structure and single pillar structure.
2.1.1 double pillar stacker.
Double post the stacker frame structure by two root made on the beams, and to form a rectangle beam under the framework. Pillar form well pipe and pipe. Square tube and be lifting guide rail, pipe additional hoisting guide double pillar stacker the biggest advantage is the strength and the brush sex are quite good, and smooth operation. General for lifting height, weight and higher up large speed high level of three-dimensional storehouse stacker, many with double pillar structure, double pillar stackers lifting mechanism, widespread use of the chain transmission, by motor reducer drive sprockets rotation, through the chain traction machine parts made on or along the hoisting guide for
lifting movement. Due to the chain transmission used more closed chain or balance by empty asked size limit device, transmission and decorate a complicated. But positioning precision.
2.1.2 single pillar stacker.
Single pillar of stacker frame structure by a root of the pillar and beam. Pillar used more larger h-beam or welding production, pillar additional guide. The weight of the lighter, consume little material, so manufacturing relatively low cost, but the rigid is a bit poor. Because parts of Taiwan and the goods on the eccentricity of the opposite effect, and walk, the braking force level from the effect, make single pillar stacker in used on have limitations. Not suitable for lifting weight and the running speed of the high level of stacking machine. Single pillar stackers hoisting structure, the widespread use of the wire rope transmission, by motor reducer drive drum rotating, through the wire rope traction machine parts made on or along the lifting rails for lifting movement. For wire rope transmission, transmission and decorate relatively easy, but positioning accuracy is a bit poor.
Version 2.2 of stacking crane to track the performance Stacker level drive general installation in stacker next beam, through the electricity
Machine speed reducer drive wheel rotation, make stacker level concerning the direction. This ground driving way most common use. General use two bearing wheel, and along the laying on the ground track (usually also called to rail) operation. Through the bottom two groups of level round orbit direction, the top two groups
in stacker guide wheel along in orbit (usually also called day rail) operation auxiliary oriented. According to the running track form difference, there is a straight line type stacker and curve operation type stacking machine.
2.2. L straight lines type stacking machine.
Straight line type stacker can only be in the roadway straight orbit, unable to convert roadways. Only through the other transportation equipment of transformation, such as stacker car transport. Straight line type stacker can realize the operation, and can satisfy the loading and unloading higher frequency three-dimensional storehouse homework, most widely used.
2.2.2 curve operation type stacking machine.
Curve operation type stacking locomotive wheels and the beam under the vertical axis of the hinged, can be in the ring or other curve orbit, can go curve, not through the other transportation equipment can then from a roadway to transfer to another roadways. Such stacker usually also called transition stacker. Curve operation type stacker in used on have limitations, only applies
to the loading and unloading frequency low three-dimensional storehouse. Because not only by the turning radius to the limit, and turning special slow speed, and can't meet the person library of frequency and high warehouse operation.
3. The position of the roadway stacking crane development trend.
Along with the development of modern industrial production, stacking crane technology of version continuously improved and perfected. The world's major industrial countries starting point on the development of new products and reliable performance and high on the operation on pay more attention to the practicality and safety.
In stacker, we shall see and world advanced nation gap, summarizing the experience find out the deficiency, break traditional ideas, has introduced new appearance and higher performance stacker. In make stacking machine has higher precision at the same time, increase speed to get shorter operation cycle and more production ability.
Believe that, through our continuous efforts more high speed, safe and reliable heap
when the machine will continue to digest imported from abroad domestic, make the position of stacking crane development roadway to an update to the stage.
中文翻译：
有轨巷道堆垛机技术现状及发展趋势
1 概述
有轨巷道堆垛起重机是随着立体仓库的出现而发展起来的专用起重机，通常简称为堆剁机，堆垛机是立体仓库中最重要的起重运输设备，是代表立体仓库特征的标志。其主要用途是：在高层货架仓库的巷道内沿轨道运行，将位于巷道口的货物存入货格；或者相反，取出贷格内的货物运送到巷道口，完成出入库作业。2O世纪70年代初期，我国开始研究采用巷道式堆垛机的立体仓库，据不完全统计，到目前已建成三百余座。
堆垛机做为立体仓库中最重要的起重运输设备，也得到了较快的发展。
2 有轨巷道堆垛起重机的技术现状
按现行机械行业标准，有轨巷道堆垛起重机分类方式多种多样。如按支承方式、用途，控制方式、结构、运行轨迹等分类。但无论何种类型的堆垛机，一般都由水平行走机构、起升机构、载货台及货叉机构、机架和电气设备等基本部分组成。
在目前立体仓库应用中，堆垛机最常见的是按结构形式和运行轨迹分类。
2．1 有轨巷道堆垛起重机的结构形式
从结构形式上区别目前立体仓库中堆垛机有双立拄结构和单立柱结构。
2．1．1双立柱堆垛机
双立柱结构的堆垛机机架由两根立往和上横粱、下横梁组成一个长方形框架。立柱形式有方管和圆管。方管兼作起升导轨，圆管附加起升导轨双立柱堆垛机的最大优点就是强度和
刷性都比较好，并且运行平稳。一般对于起升高度较高、起重量较大和水平运行速度高的立体仓库堆垛机、多采用双立柱结构，双立柱堆垛机的起升机构、普遍采用链条传动，由电机减速机驱动链轮转动，通过链条牵引载货台沿立拄或
起升导轨作升降运动。由于链条传动多采用封闭链或配重装置受空问尺寸限制，传动和布置较复杂，但定位精准。
2．1．2 单立柱堆垛机
单立柱结构的堆垛机机架由一根立柱和下横梁组成。立柱多采用较大的H型钢或焊接制作，立柱上附加导轨。整机重量较轻，消耗材料少，因此制造成本相对较低，但刚性稍差。由于载货台及货物对立拄的偏心作用，以及行走、制动时产生的水平惯性力作用，使单立柱堆垛机在使用上有局限性。不适于起重量大和水平运行速度高的堆垛机。单立柱堆垛机的起升结构，普遍采用钢丝绳传动，由电机减速机驱动卷筒转动，通过钢丝绳牵引载货台沿立拄或起升钢轨作升降运动。对于钢丝绳传动，传动和布置相对容易，但定位准确性稍差。
2．2 有轨巷道堆垛起重机的运行轨迹
堆垛机水平驱动装置一般安装在堆垛机下横梁上，通过电机减速机驱动车轮转动，使堆垛机措水平方向运行。此种地面驱动方式使用最为普遍。一般用两个承重车轮，沿敷设在地面上的轨道(通常亦叫地轨)运行。通过下部两组水平轮沿轨道运行导向，在堆垛机顶部两组导向轮沿上轨道(通常亦叫天轨)运行辅助导向。按其运行轨迹形式区别，有直线运行型堆垛机和曲线运行型堆垛机。
2．2．l 直线运行型堆垛机
直线运行型堆垛机只能在巷道内直线轨道上运行，不能自行转换巷道。只能通过其他输送设备转换巷道，如堆垛机转运车。直线运行型堆垛机可以实现高速运行，能够满足出入库频率较高的立体仓库作业，应用最为广泛。
2．2．2 曲线运行型堆垛机
曲线运行型堆垛机车轮与下横梁是通过垂直轴铰接的，能够在环形或其他曲线轨道上运行，即可走曲线，不通过其他
输送设备便可以从一个巷道自行转移到另一个巷道。此种堆垛机通常亦叫做转轨堆垛机。曲线运行型堆垛机在使用上有局限性，只适用于出入库频率较低的立体仓库。因为不但场地要受到转弯半径的限制，而且转弯时速度特别慢，不能满足出人库频率高的立体仓库作业。
3．有轨巷道堆垛起重机的发展趋势
随着现代工业生产的发展，有轨巷道堆垛起重机技术也在不断提高和完善。世界主要工业国家都把着眼点放在开发性能可靠的新产品和采用高新拄术上更加注重实用性和安全性。
在堆垛机方面，我们应当看到和世界先进国家的差距，总结经验找出不足，打破传统思路，推出具有新的外形和更高性能的堆垛机。在使堆垛机具有更高定位精度的同时，提高运行速度，以获得更短的操作周期和更大的生产能力。
相信，通过我们的不断努力更加高速、安全、可靠的堆垛机将不断从国外引进消化到国内，使有轨巷道堆垛起重机发展到一个更新的阶段。
机器人外文翻译
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人形机器人论文中英文资料对照外文翻译
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工业机器人外文翻译
附录外文文献 原文 Industrial Robots Definition “A robot is a reprogrammable,multifunctional machine designed to manipulate materials,parts,tools,or specialized devices,through variable programmed motions for the performance of a variety of tasks.” --Robotics Industries Association “A robot is an automatic device that performs functions normally ascribrd to humans or a machine in orm of a human.” --Websters Dictionary The industrial robot is used in the manufacturing environment to increase productivity . It can be used to do routine and tedious assembly line jobs , or it can perform jobs that might be hazardous to do routine and tedious assembly line jobs , or it can perform jobs that might be hazardous to the human worker . For example , one of the first industrial robots was used to replace the nuclear fuel rods in nuclear power plants . A human doing this job might be exposed to harmful amounts of radiation . The industrial robot can also operate on the assembly line , putting together small components , such as placing electronic components on a printed circuit board . Thus , the human worker can be relieved of the routine operation of this tedious task . Robots can also be programmed to defuse bombs , to serve the handicapped , and to perform functions in numerous applications in our society . The robot can be thought of as a machine that will move an end-of-arm tool , sensor , and gripper to a preprogrammed location . When the robot arrives at this location , it will perform some sort of task . This task could be welding , sealing , machine loading , machine unloading , or a host of assembly jobs . Generally , this work can be accomplished without the involvement of a human being , except for programming and for turning the system on and off . The basic terminology of robotic systems is introduced in the following :
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中英文对照资料外文翻译文献 FEM Optimization for Robot Structure Abstract In optimal design for robot structures, design models need to he modified and computed repeatedly. Because modifying usually can not automatically be run, it consumes a lot of time. This paper gives a method that uses APDL language of ANSYS 5.5 software to generate an optimal control program, which mike optimal procedure run automatically and optimal efficiency be improved. 1）Introduction Industrial robot is a kind of machine, which is controlled by computers. Because efficiency and maneuverability are higher than traditional machines, industrial robot is used extensively in industry. For the sake of efficiency and maneuverability, reducing mass and increasing stiffness is more important than traditional machines, in structure design of industrial robot. A lot of methods are used in optimization design of structure. Finite element method is a much effective method. In general, modeling and modifying are manual, which is feasible when model is simple. When model is complicated, optimization time is longer. In the longer optimization time, calculation time is usually very little, a majority of time is used for modeling and modifying. It is key of improving efficiency of structure optimization how to reduce modeling and modifying time. APDL language is an interactive development tool, which is based on ANSYS and is offered to program users. APDL language has typical function of some large computer languages. For example, parameter definition similar to constant and variable definition, branch and loop control, and macro call similar to function and subroutine call, etc. Besides these, it possesses powerful capability of mathematical calculation. The capability of mathematical calculation includes arithmetic calculation, comparison, rounding, and trigonometric function, exponential function and hyperbola function of standard FORTRAN language, etc. By means of APDL language, the data can be read and then calculated, which is in database of ANSYS program, and running process of ANSYS program can be controlled.
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外文翻译：机器人本科生外文翻译资料
外文翻译资料原文 学院 专业班级 学生姓名 指导教师
Robot Darrick Addison (dtadd95@https://www.360docs.net/doc/5818263830.html,), Senior Software Engineer/Consultant, ASC Technologies Inc. 01 Sep 2001 "A re-programmable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through various programmed motions for the performance of a variety of tasks." -- From the Robot Institute of America, 1979 Darrick Addison, an experienced developer in databases, networks, user interfaces, and embedded systems, introduces the field of robotics and the issues surrounding robotic systems. He covers mechanical design, sensory systems, electronic control, and software. He also discusses microcontroller systems, including serial and memory-mapped interfacing, and talks about some of the available open source software options. The word "robot" originates from the Czech word for forced labor, or serf. It was introduced by playwright Karel Capek, whose fictional robotic inventions were much like Dr. Frankenstein's monster -- creatures created by chemical and biological, rather than mechanical, methods. But the current mechanical robots of popular culture are not much different from these fictional biological creations. Basically a robots consists of: ? A mechanical device, such as a wheeled platform, arm, or other construction, capable of interacting with its environment ?Sensors on or around the device that are able to sense the environment and give useful feedback to the device ?Systems that process sensory input in the context of the device's current situation and instruct the device to perform actions in response to the situation In the manufacturing field, robot development has focused on engineering robotic arms that perform manufacturing processes. In the space industry, robotics focuses on highly specialized, one-of-kind planetary rovers. Unlike a highly automated manufacturing plant, a planetary rover operating on the dark side of the moon -- without radio communication -- might run into unexpected situations. At a minimum, a planetary rover must have some source of sensory input, some way of interpreting that input, and a way of modifying its actions to respond to a changing world. Furthermore, the need to sense and adapt to a partially unknown environment requires intelligence (in other words, artificial intelligence).
智能避障机器人设计外文翻译
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搬运机器人外文翻译
外文翻译 专业机械电子工程 学生姓名张华 班级 B机电092 学号 05 指导教师袁健
外文资料名称：Research，design and experiment of end effector for wafer transfer robot 外文资料出处：Industrail Robot：An International Journal 附件： 1.外文资料翻译译文 2.外文原文
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Manufacturing Engineering and Technology(机械类英文文献+翻译)
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外文翻译-多自由度步行机器人
多自由度步行机器人 摘要在现实生活中设计一款不仅可以倒下而且还可以站起来的机器人灵活智能机器人很重要。本文提出了一种两臂两足机器人,即一个模仿机器人,它可以步行、滚动和站起来。该机器人由一个头,两个胳膊和两条腿组成。基于远程控制,设计了双足机器人的控制系统,解决了机器人大脑内的机构无法与无线电联系的问题。这种远程控制使机器人具有强大的计算头脑和有多个关节轻盈的身体。该机器人能够保持平衡并长期使用跟踪视觉,通过一组垂直传感器检测是否跌倒,并通过两个手臂和两条腿履行起立动作。用实际例子对所开发的系统和实验结果进行了描述。 1 引言随着人类儿童的娱乐,对于设计的双足运动的机器人具有有站起来动作的能力是必不可少。 为了建立一个可以实现两足自动步行的机器人,设计中感知是站立还是否躺着的传感器必不可少。两足步行机器人它主要集中在动态步行,作为一种先进的控制问题来对待它。然而,在现实世界中把注意力集中在智能反应,更重要的是创想,而不是一个不会倒下的机器人,是一个倒下来可以站起来的机器人。 为了建立一个既能倒下又能站起来的机器人,机器人需要传感系统就要知道它是否跌倒或没有跌倒。虽然视觉是一个机器人最重要的遥感功能,但由于视觉系统规模和实力的限制,建立一个强大的视觉系统在机器人自己的身体上是困难的。如果我们想进一步要求动态反应和智能推理经验的基础上基于视觉的机器人行为研究,那么机器人机构要轻巧足以够迅速作出迅速反应,并有许多自由度为了显示驱动各种智能行为。至于有腿机器人,只有一个以视觉为基础的
小小的研究。面临的困难是在基于视觉有腿机器人实验研究上由硬件的显示所限制。在有限的硬件基础上是很难继续发展先进的视觉软件。为了解决这些问题和推进基于视觉的行为研究,可以通过建立远程脑的办法。身体和大脑相连的无线链路使用无线照相机和远程控制机器人,因为机体并不需要电脑板,所以它变得更加容易建立一个有许多自由度驱动的轻盈机身。 在这项研究中,我们制定了一个使用远程脑机器人的环境并且使它执行平衡的视觉和起立的手扶两足机器人,通过胳膊和腿的合作,该系统和实验结果说明如下。图 1 远程脑系统的硬件配置图 2 两组机器人的身体结构 2 远程脑系统 远程控制机器人不使用自己大脑内的机构。它留大脑在控制系统中并且与它用无线电联系。这使我们能够建立一个自由的身体和沉重大脑的机器人。身体和大脑的定义软件和硬件之间连接的接口。身体是为了适应每个研究项目和任务而设计的。这使我们提前进行研究各种真实机器人系统。 一个主要利用远程脑机器人是基于超级并行计算机上有一个大型及重型颅脑。虽然硬件技术已经先进了并拥有生产功能强大的紧凑型视觉系统的规模,但是硬件仍然很大。摄像头和视觉处理器的无线连接已经成为一种研究工具。远程脑的做法使我们在基于视觉机器人技术各种实验问题的研究上取得进展。 另一个远程脑的做法的优点是机器人机体轻巧。这开辟了与有腿移动机器人合作的可能性。至于动物,一个机器人有 4 个可以行走的四肢。我们的重点是基于视觉的适应行为的4肢机器人、机械动物,在外地进行试验还没有太多的研究。 大脑是提出的在母体环境中通过接代遗传。大脑和母体可以分享新设计