直齒圓柱齒輪誤差測(cè)量裝置設(shè)計(jì)【說(shuō)明書(shū)+CAD+SOLIDWORKS】

直齒圓柱齒輪誤差測(cè)量裝置設(shè)計(jì)【說(shuō)明書(shū)+CAD+SOLIDWORKS】,說(shuō)明書(shū)+CAD+SOLIDWORKS,圓柱齒輪,誤差,測(cè)量,丈量,裝置,設(shè)計(jì),說(shuō)明書(shū),仿單,cad,solidworks 直齒圓柱齒輪誤差測(cè)量裝置的設(shè)計(jì) 齒輪是各種機(jī)械設(shè)備中經(jīng)常用到的一種重要的傳動(dòng)零件。由于科學(xué)技術(shù)和生產(chǎn)的發(fā)展，對(duì)其工作精度的要求也愈來(lái)愈高，為此，對(duì)齒輪這一傳動(dòng)件的設(shè)計(jì)、制造和測(cè)試等提出了更高的要求。由于漸開(kāi)線圓柱齒輪具有許多優(yōu)點(diǎn)，所以，在齒輪傳動(dòng)中用的十分廣泛，因此對(duì)其漸開(kāi)線是否合格的檢測(cè)就顯得很重要，漸開(kāi)線齒輪齒形誤差的測(cè)量對(duì)象是齒輪的齒廓，研究齒輪漸開(kāi)線檢查儀的檢查結(jié)果，對(duì)提高工廠齒輪生產(chǎn)有很大的影響。 漸開(kāi)線圓柱齒輪作為目前用途最廣、種類最多的齒輪，檢測(cè)該種齒輪誤差的機(jī)械展成式儀器較多，這類儀器通常采用電動(dòng)記錄器在記錄紙上輸出齒輪誤差曲線圖，再由人工實(shí)現(xiàn)誤差判斷，給齒輪檢測(cè)帶來(lái)不便。為了實(shí)現(xiàn)齒輪誤差測(cè)量數(shù)據(jù)的計(jì)算和計(jì)算機(jī)自動(dòng)處理，提高檢測(cè)效率，擬開(kāi)發(fā)一套漸開(kāi)線圓柱齒輪齒形誤差檢測(cè)裝置。齒輪的應(yīng)用有著悠久的歷史,而齒輪的科學(xué)研究卻始于17世紀(jì)M·Camus發(fā)現(xiàn)齒輪傳動(dòng)的節(jié)點(diǎn)原理;?1765年,?L·Euler將漸開(kāi)線齒形引入齒輪 ,100多年后,Fellows等人應(yīng)用范成法高效地生產(chǎn)出漸開(kāi)線齒輪, 從此漸開(kāi)線齒輪得到了廣泛應(yīng)用。由于制造與安裝等方面的原因, 實(shí)際齒輪總是存在著誤差。這種誤差對(duì)傳動(dòng)系統(tǒng)的精與動(dòng)態(tài)特性(特別是振動(dòng)與噪聲)有直接的影響。因此,如何表征、測(cè)量、分析、利用和控制齒輪誤差一直是不斷探索的課題。齒輪測(cè)量的基礎(chǔ)是齒輪精度理論。輪測(cè)量技術(shù)的發(fā)展歷程是以齒輪精度理論的發(fā)展為前提的。齒輪精度理論的發(fā)展實(shí)質(zhì)上反映了人們對(duì)齒輪誤差認(rèn)識(shí)的深化。迄今 ,齒輪精度理論經(jīng)歷了齒輪誤差幾何學(xué)理論、齒輪誤差運(yùn)動(dòng)學(xué)理論和齒輪誤差動(dòng)力學(xué)理論的發(fā)展過(guò)程。其中,齒輪誤差動(dòng)力學(xué)理論還處在探索中。第一種理論將齒輪看作純幾何體,認(rèn)為齒輪是一些空間曲面的組合,任一曲面都可由三維空間中點(diǎn)的坐標(biāo)來(lái)描述,實(shí)際曲面上點(diǎn)的位置和理論位置的偏差即為齒輪誤差。第二種理論將齒輪看作剛體,認(rèn)為齒輪不僅僅是幾何體,也是個(gè)傳動(dòng)件,并認(rèn)為齒輪誤差在嚙合運(yùn)動(dòng)中是通過(guò)嚙合線方向影響傳動(dòng)特性,因此嚙合運(yùn)動(dòng)誤差反映了齒面誤差信息。第三種理論將齒輪看作彈性體,對(duì)齒廓進(jìn)行修形,“有意地”引入誤差,用于補(bǔ)償輪齒承載后的彈性變形,從而獲取最佳動(dòng)態(tài)性能,由此形成了齒輪動(dòng)態(tài)精度的新概念。齒輪精度理論的發(fā)展,導(dǎo)致了齒輪精度標(biāo)準(zhǔn)的不斷豐富和更新,如傳動(dòng)誤差、設(shè)計(jì)齒廓的引入等。反過(guò)來(lái),齒輪測(cè)量技術(shù)的發(fā)展也為齒輪精度理論的應(yīng)用和齒輪標(biāo)準(zhǔn)貫徹提供了技術(shù)支撐。齒輪測(cè)量技術(shù)及其儀器的研發(fā)已有近百年的歷史。 ? 我們的指導(dǎo)思想就是經(jīng)過(guò)此設(shè)計(jì)，培養(yǎng)自己理論聯(lián)系實(shí)際的作風(fēng)，嚴(yán)謹(jǐn)?shù)目茖W(xué)態(tài)度和獨(dú)立分析解決問(wèn)題的能力，并對(duì)所學(xué)理論知識(shí)進(jìn)行一次系統(tǒng)的回顧，通過(guò)調(diào)研、查資料，提出解決一個(gè)工程問(wèn)題的方案，受到從理論到實(shí)踐應(yīng)用的基本訓(xùn)練，為畢業(yè)后干好工作打下良好的基礎(chǔ)。目前，漸開(kāi)線圓柱齒輪齒形誤差的測(cè)量方法主要有標(biāo)準(zhǔn)設(shè)計(jì)齒形比較法、標(biāo)準(zhǔn)漸開(kāi)線軌跡法和坐標(biāo)測(cè)量法三類。標(biāo)準(zhǔn)設(shè)計(jì)齒形比較法是將被測(cè)實(shí)際齒形與標(biāo)準(zhǔn)設(shè)計(jì)齒形曲線進(jìn)行比較而得到的齒形誤差的方法。該方法的主要問(wèn)題在于：儀器的基準(zhǔn)誤差、被測(cè)齒輪的安裝誤差以及圓盤(pán)的直徑尺寸等對(duì)測(cè)量結(jié)果影響較大。坐標(biāo)測(cè)量法是將被測(cè)齒形上若干點(diǎn)的實(shí)際與理論坐標(biāo)進(jìn)行比較的一種方法。該方法的主要問(wèn)題是計(jì)算繁瑣，特別是測(cè)點(diǎn)要求多，測(cè)點(diǎn)布置有特殊要求時(shí)數(shù)據(jù)處理工作量大。目前，漸開(kāi)線圓柱齒輪齒形誤差的測(cè)量方法主要有標(biāo)準(zhǔn)設(shè)計(jì)齒形比較 法、標(biāo)準(zhǔn)漸開(kāi)線軌跡法和坐標(biāo)測(cè)量法三類。標(biāo)準(zhǔn)設(shè)計(jì)齒形比較法是將被測(cè)實(shí)際齒形與標(biāo)準(zhǔn)設(shè)計(jì)齒形曲線進(jìn)行比較而得到的齒形誤差的方法。該方法的主要問(wèn)題在于：儀器的基準(zhǔn)誤差、被測(cè)齒輪的安裝誤差以及圓盤(pán)的直徑尺寸等對(duì)測(cè)量果影響較大。坐標(biāo)測(cè)量法是將被測(cè)齒形上若干點(diǎn)的實(shí)際與理論坐標(biāo)進(jìn)行比較的一種方法。該方法的主要問(wèn)題是計(jì)算繁瑣，特別是測(cè)點(diǎn)要求多，測(cè)點(diǎn)布置有特殊要求時(shí)數(shù)據(jù)處理工作量大。針對(duì)這些缺點(diǎn)，為實(shí)現(xiàn)檢測(cè)數(shù)據(jù)的自動(dòng)化處理，提高檢測(cè)效率，節(jié)省人力資源和工作時(shí)間，齒輪測(cè)量技術(shù)的發(fā)展已有近百年的歷史。對(duì)應(yīng)于齒輪測(cè)量技術(shù)，可將現(xiàn)代齒輪測(cè)量技術(shù)歸納為三種類型齒輪單項(xiàng)幾何形狀誤差測(cè)量技術(shù)；第二，齒輪綜合誤差測(cè)量技術(shù)和齒輪整體誤差測(cè)量技術(shù)。齒輪傳動(dòng)是機(jī)械傳動(dòng)中應(yīng)用最廣泛的一種傳動(dòng)形式,齒輪的精度是影響齒輪傳動(dòng)使用性能的重要因素。漸開(kāi)線圓柱齒輪是目前用途最廣的齒輪，也是種類最多得齒輪，很多中小型齒輪制造企業(yè)使用漸開(kāi)線齒輪檢查儀檢測(cè)該種齒輪的齒形誤差。這類儀器通常采用電動(dòng)記錄器在記錄紙上打印齒輪誤差曲線，再由人工進(jìn)行誤差分析，判斷其誤差是符合要求，使得齒輪檢測(cè)十分不方便。實(shí)現(xiàn)檢測(cè)數(shù)據(jù)的自動(dòng)化處理，提高檢測(cè)效率，節(jié)省人力資源和工作時(shí)間，本設(shè)計(jì)開(kāi)發(fā)了一套漸開(kāi)線圓柱齒輪齒形誤差檢測(cè)裝置。該裝置采用讀數(shù)百分表讀取數(shù)值，利用雙嚙原理進(jìn)行齒形誤差合格行判斷，漸開(kāi)線圓柱齒輪作為目前用途最廣、種類最多的齒輪，檢測(cè)該種齒輪的機(jī)械展成裝置較多，這類裝置通常采用電動(dòng)記錄器在記錄紙上輸出齒輪誤差曲線圖，再由人工實(shí)現(xiàn)誤差判斷，給齒輪檢測(cè)帶來(lái)不便。為了實(shí)現(xiàn)齒輪誤差測(cè)量數(shù)據(jù)和計(jì)算機(jī)自動(dòng)處理，提高檢測(cè)效率，為實(shí)現(xiàn)檢測(cè)數(shù)據(jù)的自動(dòng)化處理，提高檢測(cè)效率，節(jié)省人力資源和工作時(shí)間，本設(shè)計(jì)開(kāi)發(fā)了一套漸開(kāi)線圓柱齒輪齒形誤差的新型測(cè)量裝置，即采用雙嚙原理：即一被測(cè)齒輪與一標(biāo)準(zhǔn)齒輪在無(wú)間隙嚙合的情況下做嚙合運(yùn)動(dòng)，測(cè)量其中心距的變動(dòng)量。中心距的變動(dòng)量即雙嚙綜合誤差，其雙嚙綜合誤差又是徑向跳動(dòng)誤差、齒輪誤差、齒形誤差、齒后誤差的綜合結(jié)果，因此，本裝置的設(shè)計(jì)避免了單項(xiàng)誤差不合格而綜合誤差符合要求造成合格齒輪誤費(fèi)的情況，還有用于生產(chǎn)一線的設(shè)備不能對(duì)環(huán)境有非?？量痰囊?，能應(yīng)用于車間，實(shí)驗(yàn)室等場(chǎng)合齒形誤差主要來(lái)源于齒輪加工機(jī)床的周節(jié)誤差， 刀具誤差以及加工中的振動(dòng)。機(jī)床周期誤差主要是分度蝸桿本身的制造和安裝誤差引起的。有誤差的蝸桿在分度蝸輪的嚙合傳動(dòng)中，將使蝸輪的轉(zhuǎn)動(dòng)呈現(xiàn)以蝸桿沒(méi)轉(zhuǎn)一轉(zhuǎn)為周期的周期性不均勻，其不均勻性取決于蝸桿的頭數(shù)。一般機(jī)床分度蝸桿多采用單頭所以這種誤碼差在被加工齒輪每轉(zhuǎn)中的頻率就是分度蝸輪的齒數(shù)，它使?jié)u開(kāi)線齒形上產(chǎn)生波度誤差。刀具的制造和安裝誤差（徑向跳動(dòng)和軸向竄動(dòng)）經(jīng)常是齒形差的主要來(lái)源。就滾齒來(lái)說(shuō)。幾乎滾刀上所有誤差參數(shù)都有影響被加工齒輪的齒形誤差。生產(chǎn)實(shí)踐表明， 齒數(shù)少的小齒輪，刀具誤差對(duì)齒形誤差的影響尤為突出。但對(duì)齒數(shù)較多的大齒輪，則機(jī)床誤差的影響往往占主導(dǎo)地位。加工的振動(dòng)也將引起齒形誤差。特別是對(duì)高精度齒輪的加工不可忽視。由于以上三者的影響。會(huì)使切出的輪齒形狀發(fā)生誤差即實(shí)際得到的漸開(kāi)線齒形如圖 2.1中的黑線所示（而其中的△是齒頂?shù)菇遣糠郑┧^漸開(kāi)線齒形誤差就是指在齒輪的端截面上，齒形的工作部分（h）范圍內(nèi)（齒頂?shù)估獠糠殖猓輰?shí)際齒形距離為最小的兩條設(shè)計(jì)齒形（B、C）間的法向距離。設(shè)計(jì)齒形可以是修正的理論漸開(kāi)線包括修緣齒形，突齒形等。工作齒形不是正確的漸開(kāi)線時(shí)，則其嚙合點(diǎn)的運(yùn)動(dòng)理論上已不符合齒輪基本定律，即這時(shí)的瞬時(shí)傳動(dòng)比將發(fā)生變化，所以齒形誤差會(huì)影響傳動(dòng)的工作平穩(wěn)性。1923年，德國(guó)eiss公司在世界首次研制成功一種稱為“Tooth?Surface?Tester”的儀器，它實(shí)際上是機(jī)械展成式萬(wàn)能漸開(kāi)線檢查 [1]。在此基礎(chǔ)上經(jīng)過(guò)改進(jìn)，Zeiss公司于 1925年推出了實(shí)用性儀器，并投入市場(chǎng)。50年代初，機(jī)械展成式萬(wàn)能螺旋線檢測(cè)儀的出現(xiàn) [2]，標(biāo)志著全面控制齒輪質(zhì)量成為現(xiàn)實(shí)。1965年英國(guó)研制出光柵式單嚙儀 [3]。1970年，以黃潼年為主的中國(guó)工程師研發(fā)的齒輪整體誤差測(cè)量技術(shù)，標(biāo)志著運(yùn)動(dòng)幾何法 測(cè)量齒輪開(kāi)始 [4]。1970年，美國(guó)Fellows公司在芝加哥博覽會(huì)展Microlog?50，標(biāo)志著數(shù)控齒輪測(cè)量中心的開(kāi)始 [5]。80年代末，日本大阪精機(jī)推出基于光學(xué)全息原理的非接觸齒面分析機(jī)FS—35，標(biāo)志著齒輪非接觸測(cè)量法的開(kāi)始 [6]齒輪測(cè)量技術(shù)的演變，整體上考察過(guò)去一個(gè)世紀(jì)里齒輪測(cè)量技術(shù)發(fā)展，主要表現(xiàn)在三個(gè)方面 1）在測(cè)量原理方面，實(shí)現(xiàn)了由“比較測(cè)量”到“嚙合運(yùn)動(dòng)測(cè)量”，直至“模型化測(cè)量”的發(fā)展。 2）在實(shí)現(xiàn)測(cè)量原理的技術(shù)手段上，歷經(jīng)了“以機(jī)械為主”到“機(jī)電 結(jié)合”，直至當(dāng)今的“光—機(jī)—電”與“信息技術(shù)”綜合集成的演變。 3）在測(cè)量結(jié)果的表述與利用方面，經(jīng)歷了從“指示表加肉眼讀取”， 到“記錄器記錄加人工研判”，直至“計(jì)算機(jī)自動(dòng)分析并將測(cè)量結(jié)果反饋到制造系統(tǒng)”的飛躍。機(jī)械展成式測(cè)量技術(shù)，20世紀(jì)70年代以前，齒輪測(cè)量原理主要以比較測(cè)量為主，其實(shí)質(zhì)是相對(duì)測(cè)量。具體方式有兩種：一是將被測(cè)齒輪與一標(biāo)準(zhǔn)齒輪進(jìn)行實(shí)物比較，從而得到各項(xiàng)誤差；二是展成測(cè)量法，就是將儀器的運(yùn)動(dòng)機(jī)構(gòu)形成的標(biāo)準(zhǔn)特征線與被測(cè)齒輪的實(shí)際特征線作比較，來(lái)確定相應(yīng)誤差；而精確的展成運(yùn)動(dòng)是借助一些精密機(jī)構(gòu)來(lái)實(shí)現(xiàn)的 [8]。齒輪整體誤差測(cè)量技術(shù)，1970年是齒輪測(cè)量技術(shù)的轉(zhuǎn)折點(diǎn)。 齒輪整體誤差測(cè)量技術(shù)和齒輪測(cè)量機(jī)（中心）的出現(xiàn)解決了齒輪測(cè)量領(lǐng)域的一個(gè)難題，即在一臺(tái)儀器上快速獲取齒輪的全部誤差信息 [1970年，我國(guó)在齒輪測(cè)量技術(shù)方面取得突破，發(fā)明了基于“跳牙” 蝸桿的齒輪整體誤差測(cè)量原理。經(jīng)過(guò)30多年的完善與推廣 [10]，這種起于漸開(kāi)線圓柱齒輪測(cè)量的方法已成為傳動(dòng)元件的運(yùn)動(dòng)幾何測(cè)量法 [11]。采用的標(biāo)準(zhǔn)元件也從蝸桿擴(kuò)展到齒輪、齒條等。通過(guò)對(duì)傳統(tǒng)齒形誤差測(cè)量方法誤差來(lái)源多、測(cè)頭安裝調(diào)整誤差大等缺點(diǎn)進(jìn)行分析,提出一種在19JC萬(wàn)能工具顯微鏡上利用成像法實(shí)現(xiàn)漸開(kāi)線圓柱直齒輪齒形誤差測(cè)量的新方法 [12]。積極采用齒輪國(guó)際標(biāo)準(zhǔn)?,采用先進(jìn)的加工工藝?,如精滾工 藝、修磨齒形及改變刀具材料實(shí)現(xiàn)硬齒面剃齒等,使齒輪制造質(zhì)量批量、穩(wěn)定地達(dá)到標(biāo)準(zhǔn)要求?,是我國(guó)重要的技術(shù)經(jīng)濟(jì)政策 [13]。齒輪的制造質(zhì)量對(duì)提高機(jī)械傳動(dòng)系統(tǒng)的精度、壽命和降低噪聲十分重要。這里提出了采用虛擬儀器技術(shù)、計(jì)算機(jī)技術(shù)等與傳統(tǒng)齒輪檢測(cè)儀相結(jié)合而構(gòu)建的一種先進(jìn)的齒輪誤差檢測(cè)系統(tǒng),集先進(jìn)的軟硬件技術(shù)、現(xiàn)代信號(hào)處理技術(shù)于一體,實(shí)現(xiàn)了誤差檢測(cè)的自動(dòng)化、可視化、智能化,提高了檢測(cè)的精度和可靠性 [14]。隨著我國(guó)汽車摩托車制造業(yè)的迅速發(fā)展 X-Y Pneumatic manipulator is a automated devices that can mimic the human hand and arm movements to do something，aslo can according to a fixed procedure to moving objects or control tools. It can replace the heavy labor in order to achieve the production mechanization and automation, and can work in dangerous working X-Y environments to protect the personal safety, Therefore widely used in machine building, metallurgy, electronics, light industry and atomic energy sectors.o do something，aslo can according to a fixed procedure to moving objects or control tools. It can replace the heavy labor in order to achieve the production mechanization and automation, and can work in dangerous working X-Y environments to protect the personal safety, Therefore widely used in machine building, metallurgy, electronics, light industry and atomic energy sectors. This article is mainly of the pneumatic manipulator the overall design, and pneumatic design. This mechanism of manipulator includes cylinders and claws and connectors parts, it can move according to the due track on the movement of grabbing, carrying and unloading. The pneumatic part of the design is primarily to choose the right valves and design a reasonable pneumatic control loop, by controlling and regulating pressure, flow and direction of the compressed airo make it get the necessary strength, speed and changed the direction of movement in the prescribed procedure work. s.It can replace the heavy labor in order to achieve the production mechanization and automation, and can work in dangerous working environments to protect the personal safety, Therefore widely used in machine building, metallurgy, electronics, light industry and atomic .The principle, technical pare-maters, transmiting system and main parts structure of mincing ma-chine were introduced. The productingcapacity was analysed.Keywords Mincing machine Holds plate Cutting blade Transfer auger. This article is mainly of the pneumatic manipulator the overall design, and pneumatic design. This mechanism of manipulator includes cylinders and claws and connectors parts, it can move according to the due track on the movement of grabbing, carrying and unloading.X-Y The pneumatic part of the design is primarily to choose the right valves and design a reasonable pneumatic control loop, by controlling and regulating pressure, flow and direction of the compressed air to make it get the necessary strength, speed and changed the direction of movement in the prescribed procedure work. s. It can replace the heavy labor in order to achieve the production mechanization and automation, and can work in dangerous working gn, and pneumatic design. This mechanism of manipulator includes cylinders and claws and connectors parts, it can move according to the due track on the movement of grabbing, carrying and unloading. The pneumatic part of the design is primarily to choose the right valves and design a reasonable pneumatic control loop, by controlling and regulating pressure, flow and direction of the compressed air to make it get the necessary strength, speed and changed the direction of movement in the prescribed procedure work. s.It can replace the heavy labor in order to achieve the production mechanization and automation, and ca environments to protect the personal safety, Therefore widely used in machine building, metallurgy, electronics, light industry and atomic .The principle, technical pare-maters, transmiting system and main parts structure of mincing ma-chine were introduced. The productingcapacityrying and unloading. The pneumatic part of the design is primarily to choose the right valves and design a reasonable pneumatic control loop, by controlling and regulating pressure, flow and direction of the compressed air to make it get the necessary strength, speed and changed the direction of movement in the prescribed procedure work. s. It can replace the heavy labor in order to achieve the production mechanization and automation, and can work in dangerous working environments to protect the personal safety, Therefore widely used in machine building, metallurgy, electronics, light industry and atomic .The principle, technicalpare-maters,transmitingsystemwas analysed.Keywords Mincing machine Holds plate Cutting blade Transfer auger This paper discusses the meat processing machinery - crusher working principle, main technical parameters, transmission system, the typical parts of the structure design and production capacity analysis.umatic manipulator is a automated devices that can mimic the human hand and arm movements to do something，aslo can according to a fixed procedure to moving objects or control tools. It can replace the heavy labor in order to achieve the production mechanization and automation, and can work in dangerous working X-Y environments to protect the personal safety, Therefore widely used in machine building, metallurgy, electronics, light industry and atomic energy sectors. This article is mainly of the pneumatic manipulator the overall design, and pneumatic design. This mechanism of manipulator includes cylinders and claws and connectors parts, it can move according to the due track on the movement of grabbing, carrying and unloading. The pneumatic part of the design is primarily to choose the right valves and design a reasonable pneumatic control loop, by controlling and regulating pressure, flow and direction of the compressed air to make it get the necessary strength, speed and changed the direction of movement in the prescribed procedure work. s. It can replace the heavy labor in order to achieve the production mechanization and automation, and can work in dangerous working environments to protect the personal safety, Therefore widely used in machine building, metallurgy, electronics, light industry and atomic .The principle, technical pare-maters, transmiting system and main parts structure of mincing ma-chine were introduced. The productingcapacity was analysed.Keywords Mincing machine Holds plate Cutting blade Transfer auger This paper discusses the meat processing machinery - crusher working principle, main technical parameters, transmission system, the typical parts of the structure design and production capacity analysis.gn, and pneumatic design. This mechanism of manipulator includes cylinders and claws and connectors parts, it can move according to the due track on the movement of grabbing, carrying and unloading. The pneumatic part of the design is primarily to choose the right valves and design a reasonable pneumatic control loop, by controlling and regulating pressure, flow and direction of the compressed air to make it get the necessary strength, speed and changed the direction of movement in the prescribed procedure work.It can replace the heavy labor in ordeSmall twisted paper broken machine for ordinary home, not only can be used for minced meat, can also be used with crushed peanuts, crushed ice, spices and other foot .Small twisted paper broken machine for ordinary home, not only can be used for minced X-Y meat, can also be used with crushed peanuts, crushed ice, spices and other food, small power requirements, powered by the motor drive, reasonable structure design, can meet the family kitchen generally meat food consisting mainly of minced required. Key word: pneumatic manipulator；cylinder；pneumatic loop；Four degrees of freedom. 13