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Research background
Casting, without pressure or under a little pressure, the liquid monomer, resin or mixtures thereof into the mold and make it a method of solid-state products. Casting plastic molding is similar to the metal casting, it is the preparation of a good liquid material poured into the mold cavity after curing obtained with a similar shape and size of plastic parts, this method is called casting plastic molding plastic.
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Divided into static casting casting, inlay casting, centrifugal casting, slush molding, rotational casting, rotational molding and casting casting and so on.
In modern industry, the automation of the production process has become a prominent theme. Increasingly high level of automation in all walks of life, modern processing plant, often with a mechanical hand. Bed in the red robot used to replace manual feeding feeding has become the most effective in preventing injury incidents safety measures. Robot can not only security operations but also improved product quality and production efficiency and reduce the rejection rate.
Robot is used in the automation of a production process and moving piece features a crawl automation devices, it is in the mechanization and automation of the production process developed a new type of device. In recent years, electronic technology, especially with the extensive use of computer, the robot's development and production of high-tech fields has become a rapidly developed a new technology, it is more to promote the development of the manipulator, the robot hand can be better achieved with the combination of mechanization and automation. Robot can replace humans completed the risk of duplication of boring, and reduce human labor intensity and improve labor productivity. Manipulator has been applied more widely, in the machinery industry it can be used for parts assembly, workpiece handling, loading and unloading, particularly in the automation of CNC machine tools, machine tool use is more common. Currently, the mechanical hand developed into a flexible manufacturing system, FMS, and flexible manufacturing cell An important part of the FMC. The machine tools and robots together to form a flexible manufacturing system or flexible manufacturing cell, it was adapted, the small batch production, can save huge conveyor parts, compact, and adaptable. When the workpiece is changed, the flexible production system is very easy to change, help enterprises to continuously update the marketable variety, improve product quality, and better adapt to market competition. At present, China's industrial robot technology and its application level and there is a certain distance than abroad, application size and low level of industrialization, research and development of robot directly affect the higher level of automation, from the economic, technical considerations are essential. Therefore, the Manipulator design is very meaningful.
1.1 Classification of robot
Many different types of industrial manipulator on the classification, at present there is no uniform standard in the country, in this current application more Zanan two aspects of classification.
1.1.1 according to the classification of carrying the weight of the workpiece
1. Small - arm strength 1 kg;
2. Medium - the arm strength of 1-30 kg or less;
3. Large - the arm strength of 30 kg.
Most industrial robots handling a number of its medium.
1.1.2 Classification by Function
?1) Simple general manipulator
?There are two fixed program and variable process. Fixed program or the cam drum by the control block to a given program.
?This mechanical sub-mostly pneumatic or hydraulic drive, simple structure, low cost long to change the process easier. Procedures apply only to relatively simple position control, to achieve a repeatable stand-alone service operating as a general handling work fully enough. The largest number of the current sub-machine.
??2) general teaching and playback type robot
??Under this mechanical device that artificially brought by moving all the way to teach children or given a first operating temperature, known as teaching. It consists of the drum (or disk-shaped core) since the program recorded automatically by the robot to carry out the memory of the program repeats the cycle action.
?3) has the vision, the sense of touch in general machinery
?The manipulator controlled by computer, equipped with a TV camera tube and the sensor which has the vision, thermal. Tactile and so on. The robot is still in development stage in China.
1.1.3 The design of hand
??1. Hand should be sufficient clamping force. In addition to the gravity of the workpiece, but also to not to loose parts in the course of transmission or loss;
??2. Clamping range compatible with the workpiece. Gripper for opening and closing angle (gripper open or closed position when the two extreme point of the swing) should be able to adapt to the larger diameter clamping;
??3. Holding higher precision. Require both accurate positioning within the workpiece in the gripper, not a bad clip surface. General election to be based on the shape of the workpiece gripper stick in the appropriate structure: such as the cylindrical workpiece should be used with a v-shaped grooves to position the gripper; for high surface finish should be set in the gripper on the copper, cloth bakelite or other soft pads, etc.
??4. Clamping action should be fast and flexible;
??5. Hand playing simple and compact structure, good rigidity, light weight, easy to wear at the change should be easy to install in the wrist or arm to be easy to quickly change.
1.2 The composition of the manipulator
The structure of industrial machinery in a simple but also complex. However, structure analysis, the main executive body drive system, position detection device and control system components. Figure l-1 is the schematic.
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Figure 1-1 Schematic diagram of manipulator
1 actuator
It includes the hand, wrist, arm, columns and other basic structure:
1. Hand - is the workpiece component. Its claws and clamps the two parts. There gripper clamping and release action. Clamp-type gripper means in the form similar to human murderer. There are also vacuum and electromagnetic disk (equivalent to gripper), a smooth surface to absorb the zero-41: or sheet. Some of the gripper can grip some special tools, such as gun, wrenches, welding tools.
?2. Wrist - is the connection to the Department and the arm of the components, from the paper support the role of the hand. It can tilt, turn left and right advise and the three sports. Special circumstances can increase a lateral move. Some machinery was no wrist action.
?3. Arm - is the text stays the hand, wrist components. Mechanical hip is replaced in the arm of one study design, but it does not reach a human being nimble and adapt capabilities dense. Therefore, only the simplified structure, the trajectory is divided into reciprocating motion along the coordinate axis and rotation around the coordinate axis. He usually hands back and forth again, left turn, or bobbing up and down movements, and several other sports. Optional according to need one, two or three sports.
?4. Set to - is the support arm and other components. General machinery in the legislation to the stationary, and some because of work established for the horizontal shift to the hole, said movable column of this.
?5. Travel agencies - in the more remote manipulator required to complete the operation, increase the wheel, walking track, etc.
Institutions.
2 drive system
?Drive system is the driving arm, wrist, hand power sink. It has air, forms a straight line from the cylinder, rotary cylinder, a variety of valves, pipes and pipe fittings and other components.
?Pressure-driven advantages are: easy access to fast motion, the robot can use normal compressed air per plant has, so simple and low cost; air is not as sensitive to heat as oil and flammable; maintenance; and jet control are particularly easily used in combination. The disadvantages are: air pressure is low, output is small, a large volume of the implementing agencies; compression is high, the buffer effect of the damping is poor, difficult to achieve the middle of the stop, if the requirements of high accuracy, the buffer must be added complex, positioning mechanism.
In a hydraulic driven robot is the most way. Use of tanks, motor oil, and rack and pinion to achieve linear motion, the use of rotating cylinders, motor oil and the rack and pinion or sprocket chain to achieve rotary motion.
3 Control System
?Control system is an important part of the robot, which is the dominant mechanical hand according to prescribed procedures, stroke and speed of movement of the device. It must be saved or memory instructions that people give the robot information (such as movements in order to reach the location and time information.) Work robot manipulator based on this information the executive body to issue control instructions according to the procedure, when necessary, the mechanical hand movements to monitor machine error when action or failure to issue management reports signal.
4 stroke position detection device
The role of stroke position detection device is to control the robot movement position of each movement, or position feedback about the motor system control system, and then adjusted by the control system so the robot to achieve location accuracy.
5 assist device
1. Matrix - is a fundamental part of the robot base, it play supporting role.
2. Fuel tank - to keep independence and oil installations, and to heat the oil and impurities precipitated
3. Gas evasion - the storage of compressed air.
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1.3 The significance of mechanical hand
With the development of science and technology, mechanical hand, more and more is applied. In the machinery industry, casting, welding, riveting, punching, pressing, heat treatment, machining, assembly, verification and other types of work are examples of applications. Other departments, such as light industry, construction, defense industry, etc. are also applied.
In the machinery industry, the significance of mechanical hand can be summarized as follows:
(1) to improve the automation of the production process
?Conducive to the realization of mechanical hand-delivery of materials, parts handling, machine tool replacement and automation of the assembly, etc., which can increase labor productivity and reduce production costs.
(2) to improve working conditions, to avoid personal injury
At high temperature, high pressure, low temperature, low pressure, dust, noise, odor, radioactive or other toxic pollution, and work space in the narrow places, direct manipulation by hand is dangerous or impossible, and applications to be part of the robot or all of the safety instead of homework is to improve working conditions.
In some simple, repetitive, especially the more cumbersome operation, the robot instead of people working to prevent the operation of fatigue or personal accident caused by negligence.
(3) can reduce manpower, and facilitate the production of rhythmic
Application of robot instead of people, and this is one aspect of a direct reduction of manpower, and because of mechanical hand can be a continuous work, which is another side to reduce manpower. Therefore, a comprehensive automated processing automatic machine line, currently almost no mechanical hand, to reduce the human and more accurate control of the production of beat, rhythm, to facilitate the conduct of production work.
?In summary, the effective application of robot is the inevitable trend of development of machinery industry.
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2 overall technology plan and system components
2.1 Raw Data
Uses: cast aluminum alloy cold chamber die casting machine solution.
Specifications:
????????Ladle maximum capacity: 8 kg
????????????Degrees of freedom: 3
????????????Coordinate form: similar to the spherical coordinates
????????Arm motion parameters:
????????????Rotary (&): 110 °
???????????Pitch (θ): 54 °
?Ladle the maximum tilt angle (θ1): 70 °
???????????Driving type: hydraulic
???????????Control: Fixed program control relay
2.2 The work needs
Casting manipulator (ie, ladle 1) the initial position, stopping the crucible 2 in the holding furnace above the metal surface, in which the heat, waiting for casting. When 630 tons die casting machine mold slow, the die-casting machine control device sent a letter to the robot lift cylinder 6 moves, ladle, and immersed in liquid metal begin to decline within the contact with the metal surface until the electrode B, the voltage following the Electric 2XJ letters, ladle stopped declining, and with time relay control ladle has been filled with liquid metal, and then ladle rise in the excess metal will enhance the process of pouring the solution from the overflow tailgate package, direct Holding furnace to the ladle bottom of the crucible than the highest point, hit the limit switch 1XW, improve end. Meanwhile, the mechanical hand-arm casting 3 slow rotation (5 driven by a rotating cylinder), when the collision limit switch 5XWK, the arm into a quick turn. When confronted with a limit switch 6XWK after he transformed into a slow rotation, until after the collision to stop turning the limit switch 3XWK. At this time, 630 tons die casting machine mold together Yan, 4 cylinder manipulator dumping action, pulling the rope through the dumping of bodies, led flip pouring ladle, the delay, the control of dumping fuel tank reset, and to reverse the arm rotation, when after hitting the limit switch 4XWK reverse end of the arm, while lifting cylinder piston up, ladle down until contact with the metal surface electrode A, the voltage relay 1XJ sent a letter to lift cylinder moves to stop, ladle on stop at a certain distance on the surface of molten metal at the heat, preparing for a second action cycle.
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2.3 The work needs
The main arm of the robot arm rotating frame, dump bodies, ladle, dumping fuel tank, rotary cylinder, base, lift cylinder and other components.
2.4 Motion Analysis
Arm 1 is a parallelogram mechanism, it has pitch and rotational movement. Pitching arm movement is supported by hinges to achieve the lift cylinder 10, making the body parallelogram linkage E (which led ladle) for plane parallel to the movement, that is, ladle with lifting and sliding movement. Arm of the rotary motion is rotary cylinder 8 to achieve.
Installed on the arm a spring 6, by rope and pulley connection with the dumping of bodies 3, used to reset the dumping of bodies, but also have a dampening effect.
Die casting machine to meet different allowance parts or control the needs of the best parts, casting ladle capacity of the robot can be adjusted. For large capacity is adjusted by means ladle exchange, release the screws 5 (a total of four), will be able to replace the ladle. For small-capacity adjustment, adjustable electrode B and the distance between the metal surface. Alternatively, you can adjust the screw 5, the ladle was to trace the different tilt angle adjustment. 630 tons die casting machine casting machine hand equipment 4,6,8 kg capacity, ladle three of their structure the same, but sizes vary.
2.5 overall technical program
The purpose of graduation is to take what we learned together just scattered, and the flexible use. Now the trend is mechanical and electrical integration, so we graduated design is to "machine", "electricity", "medium" among themselves.
"Machine" means machinery, the process of hand movements can be divided into five parts, namely, the rise and fall robot, robot up, dumping, have to rely on rotating machinery to complete.
3 Hand Mechanism Design
3.1 The body design of hand
1. Hand should be sufficient clamping force. In addition to the gravity of the workpiece, but also to not to loose parts in the course of transmission or loss;
?2. Clamping range compatible with the workpiece. Gripper for opening and closing angle (open or closed at the claws of two extreme positions during the swing angle) should be able to adapt to the larger diameter clamping;
?3. Holding higher precision. Require both the workpiece is positioned within the claw, not a bad clip surface. The general election fast stick in the shape of the workpiece corresponding gripper structure: as per live-shaped piece with a v-shaped grid should be used to locate the gripper; the workpiece surface finish of high carbon, should be set in the gripper on the copper, the central distribution bakelite or other soft pads, etc.;
4. Clamping action should be fast and flexible;
5. Hand playing simple and compact structure, good rigidity, light weight, easy to wear Department should be easy to replace, installed in the wrist or hip to be easy to quickly change.
3.2 Structural Classification of hand
Gripper divided into the following three types:
?1. Clamp-type gripper: According to the gripper of the power for transformation and translation can be classified into the type; according to the number of fingers can be divided into two-finger and multi-finger style; according to the method of clamping the workpiece can be divided into outer and inner card Expanding the two.
2. Adsorption on the melon; into the vacuum suction type and electromagnetic sucker two. Vacuum suction-type vacuum pump type and meaning into burning compression air.
Suction cup is made of rubber or plastic cup, the suction cup inside edge, with 2-3 fold concentric element to ensure the reliability of the adsorption.