液压机械手设计说明书范本

前言“触觉”，“视觉”等感觉的“智能机器人”正处于研制开发阶段。带有一定智能的工业机器人是工业机器人技术的发展方向。第1章液压机械手总体技术方案设计械手总体设计技术方案拟定称采用直角坐标式，自动线呈直线布置，机械手在空中行走，按照顺由度坐标式布局示意图机身采用立柱式，机械手侧面行走，按照顺序完成上料、翻转、转可以集中设计液压积大，手臂悬伸量机身采用机座式，自动线围绕机座布置，顺序完成上料、翻转、转小、可从地面抓定本设计的液压机械手有五个自由度，包括机械手的抓取、回转，手臂的拉护，规格参数(标牌上标注的参数)、液压参数(液压系统设计参数)。机械手的抓重是手臂所能抓取的物件的最大重量，而该液压机械手是用于R175柴油机机体生产自动线上，主要的加工对象是柴油机机体，根据柴油机的g作iiii围度位置精度的高低取决于位置的控制方式及机械书运动部件本身的精度和刚ApPa数取1λp=1.1，抓取动作和回转动作所需的工作压力为p=1.1MPa，选用的流量为min11.1抓取机构的设计机构的工作原理2.1.1夹持力的计算Hbo12HM(F)=0Nb=Rb+R(b+)O21263L1H2HmmNN.KK12实nnnnK安全系数，K=1.2~2取K=1.51122NNKK2=3必890N实n液压缸驱动力的设计计算动手爪受力图BCBCBC 实CDBCCDBC2.1.3夹紧液压缸主要尺寸的确定PpnP驱动力,p系统工作压力取p=1.6N/mm2，n机械效率取n=0.911mmpp[]许用应力选取30钢为液压缸材料，可得[]=200MPa002.1.4液压活塞缸的设计则[]=b=355=253.6MPa4F4890d[]=253.6=1.8mmb活塞与活塞杆的连接采用活塞杆的轴肩定位，并用调整垫片调节松紧程度。mm2BB3FB422101F10limBlimlim8DK0O易制安装方便，价格便宜，可在-40~120°C温度范围内工作，使用的速度范围是而压力管道内的流速取v=5m/s。计算所得根据GB/T1047-1995可得到管径为00中考虑到摆动缸的容积效率n和机械效率n，叶片式摆动缸轴输出扭矩TcvcmT=Zb(D2d2)(pp)n812cmp---------缸的进口压力；1p---------缸的出口压力；2片，叶片轴的直径初步定为d=25mm理，f7伸缩缸选择：考虑到该设计手腕部所需的回转扭矩较小，拟选用YY_CA_B32-100-0.0001液压缸.3机械手臂设计俯仰运动时驱动力的计算1ADBCtan1=1=1ODOD11111111而P作用于活塞上的驱动力；P密封装置的摩擦阻力封P非工作缸的油压(背压)被2osa22AEAEtana=2AEAE1222122cbsin22手臂俯仰时的驱动力矩，应克服手臂部件及工件的重量对回转轴线所产生的偏重力矩、手臂启动时的惯性力矩以及各回转副的摩擦力矩，即偏惯摩M；偏惯摩F+Fx+T=0hhh2.4机械手底座机身设计2.5回转工作台设计光孔，并安底座。因此机械手的底座可以安放在应该可靠，空套齿轮和固定在轴。利用齿轮压板将齿轮进行轴向定位变形(弯曲，失稳，转角)。若刚度不足，轴上的零件如齿轮，轴承等将由d=18mm所以d=27mm将轴径进行圆整，取d=30mm许用弯曲应力来校核该轴：M2+(aT)2M---------计算截面上的合成弯矩a-----------根据转应力变化的校正系数1i转应力为脉动循环，因此取a-=0.7轴的弯曲变形的条件和允许值变变形部位允许倾角处轴 矩形花键轴：平均直径d=(D+d)/2164I当量直径d=42m轴承计算与选择式中：L—额定寿命(x106)转式中：L—额定寿命(h)hn—轴承的计算转速(r/min)ra式中：F—径向负荷(Kgf)rF—轴向负荷(Kgf)aXY轴向系数(2)按照负载荷选择轴承C=SP000式中：P—当量静负荷(Kgf)按下列两式计算，取大值0p=xF+YFp=F00r0a0rC—额定静负荷(kgf)00骤1)步进电机的工作原理：步进电机有转子、定子和定子绕组。定子绕组分若干相，每相的磁极上有2)步进电机的工作特点：A进电机受脉冲电流的控制，其转子的角位移和角速度严格地与输入脉冲的B、维持控制绕组的电流不变，电机便停在某个位置上不动，即步进电机有自整D、其缺点是效率低、拖动负载的能力不变、脉冲当量(步距角)不能够太小、mm29nb式中：6————脉冲当量(mm/step)；pF————进给牵引力(N)；mbb转距qT=Tm=152.307=507.69N·cmT=Tq=507.69=533.85N·cmekf=1000vs=10001.5=2500Hze606600.01pf=1000vmax=10002.4=4000Hzk606600.01pv进给速度(m/min)。这里为1.5m/min；sv————最大快移速度(m/min)，这里为2.4m/min；p根据估算出的最大静转距T查得110BF004最大静转距为784Ncm>T，可以满足要求，考虑到此经济型数控铣床有可能使用较大的切削用量，传动系统折算到电机轴撒谎能够的总的转动惯量J(kgcm2)可以按下Σ JΣ=JM+J1+(1)2[(J2+Js)+()2]Kg·cm2⑴2ΣG——工作台及工件等移动部件的重量(N)；J，J——齿轮zz的转动惯量；121,2Σ式中：M——圆柱体质量(kg)；cD——圆柱体直径(cm)；L——圆柱体长度(cm)；11J=0.78103dL222J=0.78103dL333J=J+J+(1)2[(J+J)+(0)2ΣM1zΣM1z2sg22509.82MΣ3.1液压驱动回路设计1.液压系统回路分析液压系统的压力必须与负载相适应，以减少动力消耗和减少发热。或限制的最高压力下工作。溢流阀所起到的作用：起安全阀的作用(防止液压系统过载)在系统正常工作的情况下，阀关闭不溢流，系统的压3.2控制系统技术方案设计采用的是机械内在反馈开环控制系统技术方案。消除系统的不可变部分中为反馈所包围的那部分环节的参数波动对系3.3液压泵及液压原件选择在机械手工作过程中，手爪的伸缩和手臂的回转速度变化范围大，流也可以同时向系统供应较大流量的液压油，以满足执行器对速度的要求。两泵可以通过溢流阀调定的压力来控制。选用双联叶片泵，其型号为液压系统中，滤除外部或者系统运转中内部产生的液压油的固体杂质，，原件的选择溢流阀：Y6-60。单向阀：Y10B。调速阀：Q63B。节流阀：L-25B；换向阀：34E-63B。驱动缸的内径和活塞杆外径的计算由技术方案设计得驱动缸的内径即为回转缸内直径，设此工作压力4F47777.8/缸筒内径D==38.65mm，kl0.632kFF参考文献M备与[16]孙桓，陈作模，葛文杰.机械原理第七版[M]．北京：高等教育出版社2006．52007.6谢辞英文翻译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“linearizationprocesses”forthispurpose.Thebasicfunctionof“linearizationprocesses”areinsertingmachiningdatapointsbetweenNCcodeswherethetotalmachiningerrorisoutofthespecifiedtolerancerange.Takeuchietal.(1990)insertedpointsbysubdividingthelinesegmentwithequallyspacedinterval.Choetal.(1993)inserteddatapointsbylimitingthemaximummachiningerrorwithinthelineintervalfromthestartpointtotheinsertedpointtobethetolerance.And,bothofthemsetthecutterorientationsvaryinglinearlyinsuccessivepositions.IntheAutomationIntelligenceGeneralizationPostprocessor(AIGP)(1996),a“linearizationprocesses”calculatesthemiddlepoint(MP)betweenadjacentNC-codesandinsertstheMPasanadditionaldataintheNCcode.TheinsertioncanbeperformedfurtherbetweentheconsecutiveNC-codeduntileitherallpointsarewithinthemachiningtoleranceoruntilamaximumof63pointsareinsertedbetweentheconsecutivedatapoint.Thecurrentpost-processors,suchastheVanguardCustomPost-processorGenerator(1996),theOminimillCustomPostprocessor(1992),theAIXNumericalControlPostGenerator(1996),areallhavingthesimilar“linearizationprocesses”asintheAIGP.InthecurrentCAD/CAMsoftware.Unigraphics(2001),theUG/postpostprocessorsinsertsdatapointsbetweenadjacentNC-codes,therebysimulatingastraightlinewithseriesofsmallcurves.Thenumberoftheinsertedpointsisdeterminedbasedonthemaximumallowabledeviationandaniterationmethodisusedtosegmentthemove.Intheextremecase,namelyafterlooping20times,ifthedeviationbetweenthesegmentedarcsandthelinearestilloutofthespecifiedtolerancelimit,theprocessisaborted.“linearizationprocesses”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“linearizationprocesses”,theproposedmethodensuresthemachiningprecisionwithoutinsertingadditionalcutterpositionpoints.ThesoftwareforimplementingtheproposedmethodcanbeusedtoprocessCLDATAsthatwillbeusedontheOM-1five-axismilling用改变加工工具方向的方法来减少五轴联动数控加工中的为加工工件表面提供了一种灵活的方法。五轴联动加工通常运用直线来连接待加工的连贯数据点，通过直线插补来生成从起点到终点的指令代码，由于加工过程中轴的旋转运动和直线进给运动是同时进行的，所以实际的运动轨迹是非线性的。曲线部分偏离线性插补部分使每个加工步骤中存在着非线性加工误差。除了线性加工误差，非线性加工误差同样也会影响到工件加工的高精度。在这篇文章中介绍了一套新的系统的方法来解决五轴联动数控加工中存在的非线性误差问题。这套方法是在特定加工运动和加工轨迹下，在不另增加插补点，通过改变加工工具方向来实现。通过处理一系列的工具在加动；加工运动轨迹；的。位置数据的生成是依据加工表面和加工工具以及加工表面的几何特性,直线插补原理将各个数据点用直线相连并生成所需的位置指令。在五轴联动加工中，所有工具轴的方向的确定至少需要一根轴的运动，那么直线运动和旋转运动是同时进行的。如此，改变工具轴的方向产生的旋转动作和直线动作的合成运动效应同样会影响到工具的位置，合成运动使得切削工具连接点会沿着非直线运动。所以，每个加工动作存在的加工误差包括直线部分的近，迹偏离直线部分(加工控制点是沿直线进行插补的，所以工具计量长度是连u加工精度的要求，例如，在加工螺旋桨表面的边缘就遇到了麻烦，加工表面曲率变化很大，工具从一个加工位置到另一个位置方向变