液壓機(jī)械手設(shè)計(jì)說明書范本

前言“觸覺”，“視覺”等感覺的“智能機(jī)器人”正處于研制開發(fā)階段。帶有一定智能的工業(yè)機(jī)器人是工業(yè)機(jī)器人技術(shù)的發(fā)展方向。第1章液壓機(jī)械手總體技術(shù)方案設(shè)計(jì)械手總體設(shè)計(jì)技術(shù)方案擬定稱采用直角坐標(biāo)式，自動(dòng)線呈直線布置，機(jī)械手在空中行走，按照順由度坐標(biāo)式布局示意圖機(jī)身采用立柱式，機(jī)械手側(cè)面行走，按照順序完成上料、翻轉(zhuǎn)、轉(zhuǎn)可以集中設(shè)計(jì)液壓積大，手臂懸伸量機(jī)身采用機(jī)座式，自動(dòng)線圍繞機(jī)座布置，順序完成上料、翻轉(zhuǎn)、轉(zhuǎn)小、可從地面抓定本設(shè)計(jì)的液壓機(jī)械手有五個(gè)自由度，包括機(jī)械手的抓取、回轉(zhuǎn)，手臂的拉護(hù)，規(guī)格參數(shù)(標(biāo)牌上標(biāo)注的參數(shù))、液壓參數(shù)(液壓系統(tǒng)設(shè)計(jì)參數(shù))。機(jī)械手的抓重是手臂所能抓取的物件的最大重量，而該液壓機(jī)械手是用于R175柴油機(jī)機(jī)體生產(chǎn)自動(dòng)線上，主要的加工對象是柴油機(jī)機(jī)體，根據(jù)柴油機(jī)的g作iiii圍度位置精度的高低取決于位置的控制方式及機(jī)械書運(yùn)動(dòng)部件本身的精度和剛ApPa數(shù)取1λp=1.1，抓取動(dòng)作和回轉(zhuǎn)動(dòng)作所需的工作壓力為p=1.1MPa，選用的流量為min11.1抓取機(jī)構(gòu)的設(shè)計(jì)機(jī)構(gòu)的工作原理2.1.1夾持力的計(jì)算Hbo12HM(F)=0Nb=Rb+R(b+)O21263L1H2HmmNN.KK12實(shí)nnnnK安全系數(shù)，K=1.2~2取K=1.51122NNKK2=3必890N實(shí)n液壓缸驅(qū)動(dòng)力的設(shè)計(jì)計(jì)算動(dòng)手爪受力圖BCBCBC 實(shí)CDBCCDBC2.1.3夾緊液壓缸主要尺寸的確定PpnP驅(qū)動(dòng)力,p系統(tǒng)工作壓力取p=1.6N/mm2，n機(jī)械效率取n=0.911mmpp[]許用應(yīng)力選取30鋼為液壓缸材料，可得[]=200MPa002.1.4液壓活塞缸的設(shè)計(jì)則[]=b=355=253.6MPa4F4890d[]=253.6=1.8mmb活塞與活塞桿的連接采用活塞桿的軸肩定位，并用調(diào)整墊片調(diào)節(jié)松緊程度。mm2BB3FB422101F10limBlimlim8DK0O易制安裝方便，價(jià)格便宜，可在-40~120°C溫度范圍內(nèi)工作，使用的速度范圍是而壓力管道內(nèi)的流速取v=5m/s。計(jì)算所得根據(jù)GB/T1047-1995可得到管徑為00中考慮到擺動(dòng)缸的容積效率n和機(jī)械效率n，葉片式擺動(dòng)缸軸輸出扭矩TcvcmT=Zb(D2d2)(pp)n812cmp---------缸的進(jìn)口壓力；1p---------缸的出口壓力；2片，葉片軸的直徑初步定為d=25mm理，f7伸縮缸選擇：考慮到該設(shè)計(jì)手腕部所需的回轉(zhuǎn)扭矩較小，擬選用YY_CA_B32-100-0.0001液壓缸.3機(jī)械手臂設(shè)計(jì)俯仰運(yùn)動(dòng)時(shí)驅(qū)動(dòng)力的計(jì)算1ADBCtan1=1=1ODOD11111111而P作用于活塞上的驅(qū)動(dòng)力；P密封裝置的摩擦阻力封P非工作缸的油壓(背壓)被2osa22AEAEtana=2AEAE1222122cbsin22手臂俯仰時(shí)的驅(qū)動(dòng)力矩，應(yīng)克服手臂部件及工件的重量對回轉(zhuǎn)軸線所產(chǎn)生的偏重力矩、手臂啟動(dòng)時(shí)的慣性力矩以及各回轉(zhuǎn)副的摩擦力矩，即偏慣摩M；偏慣摩F+Fx+T=0hhh2.4機(jī)械手底座機(jī)身設(shè)計(jì)2.5回轉(zhuǎn)工作臺(tái)設(shè)計(jì)光孔，并安底座。因此機(jī)械手的底座可以安放在應(yīng)該可靠，空套齒輪和固定在軸。利用齒輪壓板將齒輪進(jìn)行軸向定位變形(彎曲，失穩(wěn)，轉(zhuǎn)角)。若剛度不足，軸上的零件如齒輪，軸承等將由d=18mm所以d=27mm將軸徑進(jìn)行圓整，取d=30mm許用彎曲應(yīng)力來校核該軸：M2+(aT)2M---------計(jì)算截面上的合成彎矩a-----------根據(jù)轉(zhuǎn)應(yīng)力變化的校正系數(shù)1i轉(zhuǎn)應(yīng)力為脈動(dòng)循環(huán)，因此取a-=0.7軸的彎曲變形的條件和允許值變變形部位允許傾角處軸 矩形花鍵軸：平均直徑d=(D+d)/2164I當(dāng)量直徑d=42m軸承計(jì)算與選擇式中：L—額定壽命(x106)轉(zhuǎn)式中：L—額定壽命(h)hn—軸承的計(jì)算轉(zhuǎn)速(r/min)ra式中：F—徑向負(fù)荷(Kgf)rF—軸向負(fù)荷(Kgf)aXY軸向系數(shù)(2)按照負(fù)載荷選擇軸承C=SP000式中：P—當(dāng)量靜負(fù)荷(Kgf)按下列兩式計(jì)算，取大值0p=xF+YFp=F00r0a0rC—額定靜負(fù)荷(kgf)00驟1)步進(jìn)電機(jī)的工作原理：步進(jìn)電機(jī)有轉(zhuǎn)子、定子和定子繞組。定子繞組分若干相，每相的磁極上有2)步進(jìn)電機(jī)的工作特點(diǎn)：A進(jìn)電機(jī)受脈沖電流的控制，其轉(zhuǎn)子的角位移和角速度嚴(yán)格地與輸入脈沖的B、維持控制繞組的電流不變，電機(jī)便停在某個(gè)位置上不動(dòng)，即步進(jìn)電機(jī)有自整D、其缺點(diǎn)是效率低、拖動(dòng)負(fù)載的能力不變、脈沖當(dāng)量(步距角)不能夠太小、mm29nb式中：6————脈沖當(dāng)量(mm/step)；pF————進(jìn)給牽引力(N)；mbb轉(zhuǎn)距qT=Tm=152.307=507.69N·cmT=Tq=507.69=533.85N·cmekf=1000vs=10001.5=2500Hze606600.01pf=1000vmax=10002.4=4000Hzk606600.01pv進(jìn)給速度(m/min)。這里為1.5m/min；sv————最大快移速度(m/min)，這里為2.4m/min；p根據(jù)估算出的最大靜轉(zhuǎn)距T查得110BF004最大靜轉(zhuǎn)距為784Ncm>T，可以滿足要求，考慮到此經(jīng)濟(jì)型數(shù)控銑床有可能使用較大的切削用量，傳動(dòng)系統(tǒng)折算到電機(jī)軸撒謊能夠的總的轉(zhuǎn)動(dòng)慣量J(kgcm2)可以按下Σ JΣ=JM+J1+(1)2[(J2+Js)+()2]Kg·cm2⑴2ΣG——工作臺(tái)及工件等移動(dòng)部件的重量(N)；J，J——齒輪zz的轉(zhuǎn)動(dòng)慣量；121,2Σ式中：M——圓柱體質(zhì)量(kg)；cD——圓柱體直徑(cm)；L——圓柱體長度(cm)；11J=0.78103dL222J=0.78103dL333J=J+J+(1)2[(J+J)+(0)2ΣM1zΣM1z2sg22509.82MΣ3.1液壓驅(qū)動(dòng)回路設(shè)計(jì)1.液壓系統(tǒng)回路分析液壓系統(tǒng)的壓力必須與負(fù)載相適應(yīng)，以減少動(dòng)力消耗和減少發(fā)熱。或限制的最高壓力下工作。溢流閥所起到的作用：起安全閥的作用(防止液壓系統(tǒng)過載)在系統(tǒng)正常工作的情況下，閥關(guān)閉不溢流，系統(tǒng)的壓3.2控制系統(tǒng)技術(shù)方案設(shè)計(jì)采用的是機(jī)械內(nèi)在反饋開環(huán)控制系統(tǒng)技術(shù)方案。消除系統(tǒng)的不可變部分中為反饋所包圍的那部分環(huán)節(jié)的參數(shù)波動(dòng)對系3.3液壓泵及液壓原件選擇在機(jī)械手工作過程中，手爪的伸縮和手臂的回轉(zhuǎn)速度變化范圍大，流也可以同時(shí)向系統(tǒng)供應(yīng)較大流量的液壓油，以滿足執(zhí)行器對速度的要求。兩泵可以通過溢流閥調(diào)定的壓力來控制。選用雙聯(lián)葉片泵，其型號為液壓系統(tǒng)中，濾除外部或者系統(tǒng)運(yùn)轉(zhuǎn)中內(nèi)部產(chǎn)生的液壓油的固體雜質(zhì)，，原件的選擇溢流閥：Y6-60。單向閥：Y10B。調(diào)速閥：Q63B。節(jié)流閥：L-25B；換向閥：34E-63B。驅(qū)動(dòng)缸的內(nèi)徑和活塞桿外徑的計(jì)算由技術(shù)方案設(shè)計(jì)得驅(qū)動(dòng)缸的內(nèi)徑即為回轉(zhuǎn)缸內(nèi)直徑，設(shè)此工作壓力4F47777.8/缸筒內(nèi)徑D==38.65mm，kl0.632kFF參考文獻(xiàn)M備與[16]孫桓，陳作模，葛文杰.機(jī)械原理第七版[M]．北京：高等教育出版社2006．52007.6謝辭英文翻譯ACutterOrientationModificationMethodfortheReductionofNon-linearityErrorsinFive-AxisCNCMachiningACTInthemachiningofsculpturedsurfaces，five-axisCNCmachinetoolsprovidemoreflexibilitytorealizethecutterpositionasitsaxisorientationspatiallychanges.Conventionalfive-axismachiningusesstraightlinesegmentstoconnectconsecutivemachiningdatapoints,anduseslinearinterpolationtogeneratecommandsignalsforpositionsbetweenendpoints，Duetofive-axissimultaneousandcoupledrotaryandlinearmovements,theactualmachiningmotiontrajectoryisanon-linearpath.Thenon-linearcurvesegmentsdeviatefromthelinearlyinterpolatedstraightlinesegments,resultinginanon-linearitymachiningerrorineachmachiningstep.Thesenon-linearityerrors,inadditiontolinearityerror,commonlycreateobstaclestotheassuranceofhighmachiningprecision.Inthispaper,anovelmethodologyforsolvingthenon-linearityerrorsprobleminfive-axisCNCmachiningispresented.Theproposemethodisbasedonthemachinetype-specifickinematicsandthemachiningmotiontrajectory.Non-linearityerrorsarereducedbymodifyingthecutterorientationswithoutinsertingadditionalmachiningdatapoints.Anoff-lineprocessingofasetoftoolpathdataformachiningasculpturedsurfaceillustratesthattheproposedmethodincreasesmachiningprecision.Inconventionalfive-axismachining,atoolpath,representedbythecutterlocationsdata(CLDATA),consistsofthespatiallyvaryingcutterpositionsanditsaxisorientations.TheseCLDATAaregeneratedbasedsolelyonthegeometricalpropertiesofthemachinedsurfacesandthecutter.TheseCLDATAarefurtherprocessedintoNC-codeswhichisspecifictoaparticularmachineconfiguration.Linearinterpolationisthenusedtogeneratetherequiredcommandsforpositionsalonglinesegmentconnectingthemachiningdatapoints.Thesimultaneouslinearandrotarymovementsareinvolvedinfive-axismachiningsinceevernewcutteraxisorientationrequiresthemotionatleastoneotheraxis.Therearealsocouplingeffectsofthecutteraxiswillaffectthepositionofthecutter.Thesesimultaneousandcoupledmovementscausethecuttercontractpoint(CCpoint)tomoveinanon-linearmanner.Asaresult,themachiningerrorineachmotionstepismadeupofnotonlythelinearsegmentationapproximationerrorbutalsoanadditionalmachiningerror.Asshowninfigure1formachiningiseitheraconcavesurfaceoraconvexsurface,alinesegmentisusedtoconnecttwoconsecutivemachiningdatapoints(thespindlechunkisthemachinecontrolpointMCP).Linearinterpolationgenerateintermediatepositionsalongthelinesegment.Thedesiresurfaceisdesigncurve(eitherconcaveorconvex).Thelinearsegmentapproximatestodesigncurveresultinginthelinearityerror,δt.Apartfromthelinearityerror.Thenon-linearCCpointtrajectorydeviatesfromthestraightlinesegment(thecuttergagelengthisconstantandMCPisinterpolatedalongthelinesegment)resultinanadditionalmachiningerror,referredtoasthenon-linearityerror,δn.Inthecasethatthedesiresurfaceisconcave(seefigure1a),thetotalmachiningerrorisdifferenceofthenon-linearityerrorandthelinearityerror:δtotal=δt-δn.Thenon-linearityerror,inthiscase,compensateforthetotalmachiningerror(AIGPowninfigurebthenonlinearityerroraddsontothelinearityerrorandenlargesfigure1.Themulti-axisCNCmachiningerrorConsequentlythenon-linearityerrorhavecauseddifficultiesforensuringultra-precisionmachiningrequirements.Inthemachiningofairfoilsurface,forexample,themachiningofthecontoursurfaceofairfoiltotheedgesisproblematic.Thesurfacecurvatureontheseareachangesabruptly,andthusthecutterorientationvariesinconsistentlyfromonecuttertothenext.Theseabruptcutterorientationvariationsinconsistentlyfromonecutterlocationtothenext.Theseabruptcutterorientationareatypicalnon-linearityerrorproblem.Inordertosolvethefive-axisCNCmachiningerrorproblem,effortshavebeenmadetotreatnon-linearityerrorsingenerateNCcodes.Someresearchersandpostprocessorproducersused“l(fā)inearizationprocesses”forthispurpose.Thebasicfunctionof“l(fā)inearizationprocesses”areinsertingmachiningdatapointsbetweenNCcodeswherethetotalmachiningerrorisoutofthespecifiedtolerancerange.Takeuchietal.(1990)insertedpointsbysubdividingthelinesegmentwithequallyspacedinterval.Choetal.(1993)inserteddatapointsbylimitingthemaximummachiningerrorwithinthelineintervalfromthestartpointtotheinsertedpointtobethetolerance.And,bothofthemsetthecutterorientationsvaryinglinearlyinsuccessivepositions.IntheAutomationIntelligenceGeneralizationPostprocessor(AIGP)(1996),a“l(fā)inearizationprocesses”calculatesthemiddlepoint(MP)betweenadjacentNC-codesandinsertstheMPasanadditionaldataintheNCcode.TheinsertioncanbeperformedfurtherbetweentheconsecutiveNC-codeduntileitherallpointsarewithinthemachiningtoleranceoruntilamaximumof63pointsareinsertedbetweentheconsecutivedatapoint.Thecurrentpost-processors,suchastheVanguardCustomPost-processorGenerator(1996),theOminimillCustomPostprocessor(1992),theAIXNumericalControlPostGenerator(1996),areallhavingthesimilar“l(fā)inearizationprocesses”asintheAIGP.InthecurrentCAD/CAMsoftware.Unigraphics(2001),theUG/postpostprocessorsinsertsdatapointsbetweenadjacentNC-codes,therebysimulatingastraightlinewithseriesofsmallcurves.Thenumberoftheinsertedpointsisdeterminedbasedonthemaximumallowabledeviationandaniterationmethodisusedtosegmentthemove.Intheextremecase,namelyafterlooping20times,ifthedeviationbetweenthesegmentedarcsandthelinearestilloutofthespecifiedtolerancelimit,theprocessisaborted.“l(fā)inearizationprocesses”discussedabovemanipulateNC-codesbyinsertingextramachiningdatapoints.AlthoughtheproducedNC-codessatisfythemachiningrequirement,theymaycontaindensesetsofnon-equallyspaceddatawithconstantorlinearlyvaryingcutterorientation.Consequently,thelinearizationprocesshasraisedthefollowingproblems.Inthemachiningofcomplexcontoursurface,thecutterorientationvariesfromonecutterlocationtothenext.Thecutterpositionchangesinthiscasecannotbetoosmallsincethemachinewillproduceeitherjerkmotionorrandomrotarymovements.Asinanindustrialprocedureofmachiningairfoilsurfaceofanimpeller,alinearizationprocesswasusedtoreducethenon-linearityerrors.ManydatapointswereinsertedbetweenapairofNC-codes.Theinsertionofmanydatapointscausedthecutterpositionchangetobenearlyequaltozerowhilethecutterorientationdamachiningmovementsarekinematicallyrelatedtothecutterlocationdata.InotheroidaleoforPROPOSEDTOOLPATHGENERATIONMETHODoryeutteradditionaldatapointsareinsertedwithcutterorientationseithervaryinglinearlyorastheaveragevariation(i.e.,theonehalf)oftherotaryanglechange,andtheinterferenceTOOLPATHMODIFICATIONALGORITHM2.DeterminetheCCpointcoordinatesbyemployingthemachinemotionymodel3.ComputethedesiretoolpathbyusingcubicsplinefunctionbasedontheCLDATAandcalculatethelocalsurfacecurvaturesKfofthetoolpathatthengpointshelinearityerrorbyusingtheformulagivenbyFauxandlengthbetweenconsecutiveCCpointsfromstep(2).Bm,i+1=Bm,i±ΔBmCm,i+1=Cm,i±ΔCmryvariablesBmiCmiaretheintroduction.TransformCLDATAtoAnoveltoolpathgenerationmethodologyforsolvingthefive-axisCNCmachiningerrorproblemisproposed.Thenewmethodsoff-linemodifiesthecutterorientationsbasedontheallowablechangeinmachinerotarymovements,whichinmotiontrajectory.ComparingwiththedatafromtheAIGP’s“l(fā)inearizationprocesses”,theproposedmethodensuresthemachiningprecisionwithoutinsertingadditionalcutterpositionpoints.ThesoftwareforimplementingtheproposedmethodcanbeusedtoprocessCLDATAsthatwillbeusedontheOM-1five-axismilling用改變加工工具方向的方法來減少五軸聯(lián)動(dòng)數(shù)控加工中的為加工工件表面提供了一種靈活的方法。五軸聯(lián)動(dòng)加工通常運(yùn)用直線來連接待加工的連貫數(shù)據(jù)點(diǎn)，通過直線插補(bǔ)來生成從起點(diǎn)到終點(diǎn)的指令代碼，由于加工過程中軸的旋轉(zhuǎn)運(yùn)動(dòng)和直線進(jìn)給運(yùn)動(dòng)是同時(shí)進(jìn)行的，所以實(shí)際的運(yùn)動(dòng)軌跡是非線性的。曲線部分偏離線性插補(bǔ)部分使每個(gè)加工步驟中存在著非線性加工誤差。除了線性加工誤差，非線性加工誤差同樣也會(huì)影響到工件加工的高精度。在這篇文章中介紹了一套新的系統(tǒng)的方法來解決五軸聯(lián)動(dòng)數(shù)控加工中存在的非線性誤差問題。這套方法是在特定加工運(yùn)動(dòng)和加工軌跡下，在不另增加插補(bǔ)點(diǎn)，通過改變加工工具方向來實(shí)現(xiàn)。通過處理一系列的工具在加動(dòng)；加工運(yùn)動(dòng)軌跡；的。位置數(shù)據(jù)的生成是依據(jù)加工表面和加工工具以及加工表面的幾何特性,直線插補(bǔ)原理將各個(gè)數(shù)據(jù)點(diǎn)用直線相連并生成所需的位置指令。在五軸聯(lián)動(dòng)加工中，所有工具軸的方向的確定至少需要一根軸的運(yùn)動(dòng)，那么直線運(yùn)動(dòng)和旋轉(zhuǎn)運(yùn)動(dòng)是同時(shí)進(jìn)行的。如此，改變工具軸的方向產(chǎn)生的旋轉(zhuǎn)動(dòng)作和直線動(dòng)作的合成運(yùn)動(dòng)效應(yīng)同樣會(huì)影響到工具的位置，合成運(yùn)動(dòng)使得切削工具連接點(diǎn)會(huì)沿著非直線運(yùn)動(dòng)。所以，每個(gè)加工動(dòng)作存在的加工誤差包括直線部分的近，跡偏離直線部分(加工控制點(diǎn)是沿直線進(jìn)行插補(bǔ)的，所以工具計(jì)量長度是連u加工精度的要求，例如，在加工螺旋槳表面的邊緣就遇到了麻煩，加工表面曲率變化很大，工具從一個(gè)加工位置到另一個(gè)位置方向變