基于无杆活塞缸的液压—机械复合传动装置研究
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摘要
本论文通过对机械、液压传动的技术性能与优缺点的较为系统的综合分析，指出了液压—机械复合传动技术的特点与突出优势。并以结构紧凑、刚性好的无杆活塞缸为驱动执行元件，以机械增力机构为中间力传递装置，设计出了与无杆活塞缸适配的一系列新型的液压—机械复合传动装置，并对其中的大部分系统进行了力学建模及分析计算，给出了能够指导工程设计的力学模型与计算公式。论文的主要内容如下：
(1)以串联组合机械增力机构为研究的主线，以长度效应和角度效应作为逻辑展开的基础，初步构成机械增力机构的系统化框架；
(2)通过对串联组合增力机构的逻辑解析，为适合于无杆活塞缸的串联组合增力机构的创新，提供逻辑指导或者具体的创新思路；
(3)基于无杆活塞缸的机构设计，主要以杠杆、斜锲、铰杆等比较常见的增力机构为基础，拓展其变形机构，进行串联组合创新，以满足不同场合的需求。诸如，两种对称式斜锲—杠杆—铰杆三次串联机构与无杆活塞缸的组合，在结构较为紧凑的前提下，可以得到近一百的增力比，适合于重型工程机械等需要大增力比的场合；过临界点铰杆增力自锁型液压—机械复合传动装置，可以在显著缩小液压缸直径的同时，非常可靠地以零能耗方式长时间持续保持作用力，节能效果显著；
(4)进行基于无杆活塞缸的创新机构设计，主要分为非自锁和自锁两大类，并结合工作原理图对设计的机构进行数学建模和力学分析计算。
最后，本文对无杆活塞式液压缸的进一步研究内容进行了分析和展望。
The transmission and hydraulic transmission technical and its good and bad points arerelatively systematic discussed, and this essay has pointed out the hydro-mechanismcomposite transmission system characteristics and the prominent superiority. As therod-less piston, which has the advantage of compactness in structure and better rigid, is theactuation functional element, and the Force amplifier is the middle force transfer device, Idesigned a series of new hydro-mechanism composite transmission devices. Most of thesystems are mechanics modeling and automatic. The calculating formulae that can be usedto guide engineering design are given. The main contents of the paper are as follows:
(1)Take multilevel reinforcement mechanism as the main research, this essay is basedon the logic sort of the length effect and the angle effect, initially constitutes thesystematized frame on reinforcement-mechanism.
(2)Through analysis of the logic sort of the normal force-amplifier and innovativestructures, which are driven by rod-less piston, this essay provides the logical instruction ornew ideas.
(3)The common mechanism includes the lever, wedge, toggle and its derivativemechanism. In order to satisfy different demands, the mechanism design is based on therod-less piston combined with the common reinforcement-mechanism. For example, theamplifier ratio of two kinds of symmetrical hydraulic-mechanical driving device whichconsist of three-step wedge-toggle-lever force amplifier may approach100 in the situationof the compactness in structure. This mechanism is fit for the machine which is a need oflarge amplifier ratio. The hydro-mechanism composite transmission device is composedof the toggle force amplifier with self-locking function on passing the critical position androd-less piston hydraulic cylinder. This kind of devices can obviously reduce the radiusof the cylinder. Besides, they also have the advantage of keeping stable force on workpiece long time without energy source and economizing energy.
(4) Based on the rod-less piston cylinder, the innovation design mainly divides intothe non- self-locking and the self-locking, and it also does the mechanics calculatingformulae and characteristic analyses according to the functional diagram。
At last, this paper analyses the further research on the rod-less piston hydraulic.
(1)以串联组合机械增力机构为研究的主线，以长度效应和角度效应作为逻辑展开的基础，初步构成机械增力机构的系统化框架；
(2)通过对串联组合增力机构的逻辑解析，为适合于无杆活塞缸的串联组合增力机构的创新，提供逻辑指导或者具体的创新思路；
(3)基于无杆活塞缸的机构设计，主要以杠杆、斜锲、铰杆等比较常见的增力机构为基础，拓展其变形机构，进行串联组合创新，以满足不同场合的需求。诸如，两种对称式斜锲—杠杆—铰杆三次串联机构与无杆活塞缸的组合，在结构较为紧凑的前提下，可以得到近一百的增力比，适合于重型工程机械等需要大增力比的场合；过临界点铰杆增力自锁型液压—机械复合传动装置，可以在显著缩小液压缸直径的同时，非常可靠地以零能耗方式长时间持续保持作用力，节能效果显著；
(4)进行基于无杆活塞缸的创新机构设计，主要分为非自锁和自锁两大类，并结合工作原理图对设计的机构进行数学建模和力学分析计算。
最后，本文对无杆活塞式液压缸的进一步研究内容进行了分析和展望。
The transmission and hydraulic transmission technical and its good and bad points arerelatively systematic discussed, and this essay has pointed out the hydro-mechanismcomposite transmission system characteristics and the prominent superiority. As therod-less piston, which has the advantage of compactness in structure and better rigid, is theactuation functional element, and the Force amplifier is the middle force transfer device, Idesigned a series of new hydro-mechanism composite transmission devices. Most of thesystems are mechanics modeling and automatic. The calculating formulae that can be usedto guide engineering design are given. The main contents of the paper are as follows:
(1)Take multilevel reinforcement mechanism as the main research, this essay is basedon the logic sort of the length effect and the angle effect, initially constitutes thesystematized frame on reinforcement-mechanism.
(2)Through analysis of the logic sort of the normal force-amplifier and innovativestructures, which are driven by rod-less piston, this essay provides the logical instruction ornew ideas.
(3)The common mechanism includes the lever, wedge, toggle and its derivativemechanism. In order to satisfy different demands, the mechanism design is based on therod-less piston combined with the common reinforcement-mechanism. For example, theamplifier ratio of two kinds of symmetrical hydraulic-mechanical driving device whichconsist of three-step wedge-toggle-lever force amplifier may approach100 in the situationof the compactness in structure. This mechanism is fit for the machine which is a need oflarge amplifier ratio. The hydro-mechanism composite transmission device is composedof the toggle force amplifier with self-locking function on passing the critical position androd-less piston hydraulic cylinder. This kind of devices can obviously reduce the radiusof the cylinder. Besides, they also have the advantage of keeping stable force on workpiece long time without energy source and economizing energy.
(4) Based on the rod-less piston cylinder, the innovation design mainly divides intothe non- self-locking and the self-locking, and it also does the mechanics calculatingformulae and characteristic analyses according to the functional diagram。
At last, this paper analyses the further research on the rod-less piston hydraulic.
引文
1．唐中一，于今．顾庆详编著．复合传动与控制[M]．重庆：重庆大学出版社，2004．
2．朱才朝，林腾蚊．多介质多流复合传动现状与发展趋势[J]．农业机械学报，2000，33(4)：129～133．
3．曾晓松．复合传动技术及其评价体系探讨[J]．渝州大学学报(自然科学版)．2001，18(3)：46～49
4．朱孝录编著．中国机械设计大典第四卷机械伟动设计[M]．南昌：江西科学技术出版社，2002
5．李壮云编著．中国机械设计大典第五卷机械控制系统设计[M]．南昌：江西科学技术出版社．2002
6．方昌林编著．液压、气压传动与控制[M]．北京：机械工业出版社，2001
7．彭熙伟编著．流体传动与控制基础[M]．北京：机械工业出版社，2005
8．明仁雄，万会雄编著．液压与气压传动[M]．北京：国防工业出版社，2003
9. Korane, Kenneth J. Sorting out rodless cylinders Machine Design, v 61, n 4, Feb 23, 1989, p7
10．袁相谨，邢春和．国外实用机床夹具．北京：北京科学技术出版社，1988．
11. Edward G·Hoffman. Jig and Fixture Design. Fourth Edition. Albany, USA: Delmar Publishers. 1996.
12. Zhong Kangmin, Guo Peiquan. Orthogonal reinforcement mechanism, and hydraulic drive. In: Proceedings of tenth world congress on the theory of machines and mechartisms(Vol5). Oulu, Finland: Oulu University Press,1999, 2037-2042.
13．钟康民，宋强，郭培全．钢球增力液压夹具．制造技术与机床，1999(11)：47～48．
14．钟康民．偏心夹紧流体传动夹具．新技术新工艺，2003(12)：26-27．
15．苏东宁，钟康民，王潍．三种单边正交增力液压夹具的技术性能的比较．机床与液压，2003(4)：301-302．
16．孙宾，钟康民．圆柱-钢球增力机构在液压夹具中的应用．组合机床与自动化加工技术，2003(9)：36，39．
17．苏东宁，钟康民，孙蓓．一种斜楔增力液压夹具的力学计算．山东农机，2003(9)：9-11．
18．钟康民，王德云．双面斜楔增力液压传动夹具．制造技术与机床，2004(6)：78-79．
19．王兵，钟康民．基于无杆活塞缸的铰杆-杠杆增力双向夹紧液压夹具．机械制造，2004，42(10)：69-70．
20．曹华，钟康民．对称型齿条-齿轮-铰杆机构在液压传动中的应用．新技术新工艺，2004(10)：43-44．
21．付春梅．基于无杆活塞缸的斜楔增力液压夹具，新技术新工艺，2004，10：45．
22．于江海，钟康民，樊琳．基于无杆活塞液压缸与对称型斜面-钢球-斜面二次增力机构的复合传动系统．组合机床与自动化加工技术，2004(11)：49，54．
23．董桂岩，郭旭红，朱圣领．基于三级力放大机构与无杆活塞缸的液压-机械集成传动系统．机床与液压，2005(9)：48-49．
24．陆雯，钟康民．平行同步双边铰杆增力机构及其在液压传动中的应用．工程机械，2005(1)：45-46．
25．钟康民．基于无杆活塞缸与杠杆式压板的流体传动夹具．新技术新工艺，2004(10)：45．
26．张扬，钟康民，陈在良．基于杠杆-铰杆增力机构的液压-机械复合传动装置．现代机械，2005(6)：27～28．
27．盛小明，钟康民．基于固定式无杆活塞缸驱动的增力夹紧机构．机械制造，2005(3)：71～72。
28．苏东宁，钟康民．一种无杆缸-对称铰接液压增力夹具．液压与气动，2006(5)，45-46．
29. Horgan,M.R..Today's spacesavers: rodless air cylinders. Hydraulics & Pneumatics,v 47,n 6,Jun, 1994,p 41
30. Barnes, R. Rodless air cylinders offer new design options, Hydraulics & Pneumatics, v 48, n 4, Apt, 1995, p 34-36
31. Anon. Rodless cylinders last the course, Professional Engineering, v 18, n 2, Jan 26, 2005, p 50
32. Partners in automation [rodless pneumatic cylinders and robots], OEM Design, Nov. 1983, 26-7
33. Dimock, J. Deposition machine uses rodless cylinder to simplify wafer handling, Industrial Research/Development, v 25, n 11, Ncv. 1983, p 141-2
34. Shih, Ming-Chang.Position control of a pneumatic rodless cylinder using sliding mode M-D-PWM control the high speed solenoid valves, JSME International Journal, Series C, v 41, n 2, Jun, 1998, p 236-241
35．林文焕，陈本通编著．机床夹具设计[M]．北京：国防工业出版社，1987．
36．刘文剑主编．夹具工程师手册．哈尔滨：黑龙江科学技术出版社1992．
37．钟康民，郭培全，宋强．夹紧螺钉及压板的结构改进与创新．制造技术与机床，1999(3)：37-38．
38．钟康民．简论对称性美学思想指导下的机械设计创新．机械设计，2004(专辑)：94-95，56．
39．机床设计手册(3．部件、机构及总体设计)，机械工业出版社，1986，708页．
2．朱才朝，林腾蚊．多介质多流复合传动现状与发展趋势[J]．农业机械学报，2000，33(4)：129～133．
3．曾晓松．复合传动技术及其评价体系探讨[J]．渝州大学学报(自然科学版)．2001，18(3)：46～49
4．朱孝录编著．中国机械设计大典第四卷机械伟动设计[M]．南昌：江西科学技术出版社，2002
5．李壮云编著．中国机械设计大典第五卷机械控制系统设计[M]．南昌：江西科学技术出版社．2002
6．方昌林编著．液压、气压传动与控制[M]．北京：机械工业出版社，2001
7．彭熙伟编著．流体传动与控制基础[M]．北京：机械工业出版社，2005
8．明仁雄，万会雄编著．液压与气压传动[M]．北京：国防工业出版社，2003
9. Korane, Kenneth J. Sorting out rodless cylinders Machine Design, v 61, n 4, Feb 23, 1989, p7
10．袁相谨，邢春和．国外实用机床夹具．北京：北京科学技术出版社，1988．
11. Edward G·Hoffman. Jig and Fixture Design. Fourth Edition. Albany, USA: Delmar Publishers. 1996.
12. Zhong Kangmin, Guo Peiquan. Orthogonal reinforcement mechanism, and hydraulic drive. In: Proceedings of tenth world congress on the theory of machines and mechartisms(Vol5). Oulu, Finland: Oulu University Press,1999, 2037-2042.
13．钟康民，宋强，郭培全．钢球增力液压夹具．制造技术与机床，1999(11)：47～48．
14．钟康民．偏心夹紧流体传动夹具．新技术新工艺，2003(12)：26-27．
15．苏东宁，钟康民，王潍．三种单边正交增力液压夹具的技术性能的比较．机床与液压，2003(4)：301-302．
16．孙宾，钟康民．圆柱-钢球增力机构在液压夹具中的应用．组合机床与自动化加工技术，2003(9)：36，39．
17．苏东宁，钟康民，孙蓓．一种斜楔增力液压夹具的力学计算．山东农机，2003(9)：9-11．
18．钟康民，王德云．双面斜楔增力液压传动夹具．制造技术与机床，2004(6)：78-79．
19．王兵，钟康民．基于无杆活塞缸的铰杆-杠杆增力双向夹紧液压夹具．机械制造，2004，42(10)：69-70．
20．曹华，钟康民．对称型齿条-齿轮-铰杆机构在液压传动中的应用．新技术新工艺，2004(10)：43-44．
21．付春梅．基于无杆活塞缸的斜楔增力液压夹具，新技术新工艺，2004，10：45．
22．于江海，钟康民，樊琳．基于无杆活塞液压缸与对称型斜面-钢球-斜面二次增力机构的复合传动系统．组合机床与自动化加工技术，2004(11)：49，54．
23．董桂岩，郭旭红，朱圣领．基于三级力放大机构与无杆活塞缸的液压-机械集成传动系统．机床与液压，2005(9)：48-49．
24．陆雯，钟康民．平行同步双边铰杆增力机构及其在液压传动中的应用．工程机械，2005(1)：45-46．
25．钟康民．基于无杆活塞缸与杠杆式压板的流体传动夹具．新技术新工艺，2004(10)：45．
26．张扬，钟康民，陈在良．基于杠杆-铰杆增力机构的液压-机械复合传动装置．现代机械，2005(6)：27～28．
27．盛小明，钟康民．基于固定式无杆活塞缸驱动的增力夹紧机构．机械制造，2005(3)：71～72。
28．苏东宁，钟康民．一种无杆缸-对称铰接液压增力夹具．液压与气动，2006(5)，45-46．
29. Horgan,M.R..Today's spacesavers: rodless air cylinders. Hydraulics & Pneumatics,v 47,n 6,Jun, 1994,p 41
30. Barnes, R. Rodless air cylinders offer new design options, Hydraulics & Pneumatics, v 48, n 4, Apt, 1995, p 34-36
31. Anon. Rodless cylinders last the course, Professional Engineering, v 18, n 2, Jan 26, 2005, p 50
32. Partners in automation [rodless pneumatic cylinders and robots], OEM Design, Nov. 1983, 26-7
33. Dimock, J. Deposition machine uses rodless cylinder to simplify wafer handling, Industrial Research/Development, v 25, n 11, Ncv. 1983, p 141-2
34. Shih, Ming-Chang.Position control of a pneumatic rodless cylinder using sliding mode M-D-PWM control the high speed solenoid valves, JSME International Journal, Series C, v 41, n 2, Jun, 1998, p 236-241
35．林文焕，陈本通编著．机床夹具设计[M]．北京：国防工业出版社，1987．
36．刘文剑主编．夹具工程师手册．哈尔滨：黑龙江科学技术出版社1992．
37．钟康民，郭培全，宋强．夹紧螺钉及压板的结构改进与创新．制造技术与机床，1999(3)：37-38．
38．钟康民．简论对称性美学思想指导下的机械设计创新．机械设计，2004(专辑)：94-95，56．
39．机床设计手册(3．部件、机构及总体设计)，机械工业出版社，1986，708页．