基于串联组合增力机构的工业机械手可重构气动夹持装置
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摘要
传统的气动工业机械手夹持装置,当由外夹持转换为内夹持,或由夹持小尺寸工件,转换到夹持大尺寸工件时,一般都需要重新设计和制造,这势必显著延缓交货周期。此外,由于气压传动压力较低,在需要较大夹持力的场合,气缸体积较为庞大和笨重,也是长期存在的技术难题。本论文介绍基于串联组合增力机构的工业机械手可重构气动夹持装置的创新设计思路,分析了串联组合增力机构的技术特点,对串联组合增力机构与以串联组合增力机构为基础的工业机械手夹持装置的技术性能进行了较为系统的综合分析,说明了其工作原理和技术性能特点,给出了夹持力的计算公式和力学特性曲线。所创新设计的可重构气动夹持装置,以几何形体极为简单的杆件为基本构件,并通过基本构件的形状改变与位置重组,可迅速满足对不同尺寸的工件,来进行内夹持与外夹持的需求,以及不同夹紧力的需求。
所设计的夹持装置由于以串联组合增力机构为基础能结合各种装置的优点,并且采用气缸内置的总体布局,结构极为简约紧凑,能扬长避短,实现效率最大化和体积、成本最小化。该夹持装置以气压传动为动力源,气压传动以洁净的压缩空气作为传动介质,相对于容易对环境产生污染的液压传动而言,在绿色化方面具有显著优势。由于该夹持装置采用多级串联增力机构,解决了一般气压传动夹持装置因系统压力较低而导致夹持力不足的缺点,可在一定范围内代替容易造成环境污染的液压传动夹持装置。论文给出的力学计算公式和曲线,对工程界具有实际参考价值。
The traditional clamping mechanism of industry manipulator,When converting from outside to inside clamping, or clamping a workpiece of small size conversion to a larger clamping workpiece, Generally need to design and manufacture, This will significantly delayed delivery cycle. In addition, due to the low-pressure pneumatic drive, in need of large clamping force is a heavy and huge volume of cylinder, and the technical problems exist for a long time. This paper describes a new innovation design idea of reconfigurable pneumatic clamping mechanism based on series-connected force amplifier .Analyses the combination in series force amplifier in the technical characteristic , compare with series-connected force amplifier
Designed clamping device due to the series force amplifier as the basis to combine the advantages of various devices, and the overall layout with built-cylinder, the structure is extremely simple and compact, able to exceed and to maximize efficiency and volume, cost minimization . The pneumatic clamping device to drive the power source, pneumatic drive to clean the air as the transmission medium, as opposed to easy on the environment in terms of pollution of hydraulic transmission, In the protection of the environment has a significant advantage . Using the two-step or three-step force-amplifier, the device solved the shortcoming of lower press result in the smaller force of pneumatic drive system, and thus can be instead of the hydraulic clamping device in certain extent which easily leads to environmental pollution. The graphic example, corresponding formula of output force and mechanics characteristics curve are given which of important reference value and the guide meaning for engineering fields.
所设计的夹持装置由于以串联组合增力机构为基础能结合各种装置的优点,并且采用气缸内置的总体布局,结构极为简约紧凑,能扬长避短,实现效率最大化和体积、成本最小化。该夹持装置以气压传动为动力源,气压传动以洁净的压缩空气作为传动介质,相对于容易对环境产生污染的液压传动而言,在绿色化方面具有显著优势。由于该夹持装置采用多级串联增力机构,解决了一般气压传动夹持装置因系统压力较低而导致夹持力不足的缺点,可在一定范围内代替容易造成环境污染的液压传动夹持装置。论文给出的力学计算公式和曲线,对工程界具有实际参考价值。
The traditional clamping mechanism of industry manipulator,When converting from outside to inside clamping, or clamping a workpiece of small size conversion to a larger clamping workpiece, Generally need to design and manufacture, This will significantly delayed delivery cycle. In addition, due to the low-pressure pneumatic drive, in need of large clamping force is a heavy and huge volume of cylinder, and the technical problems exist for a long time. This paper describes a new innovation design idea of reconfigurable pneumatic clamping mechanism based on series-connected force amplifier .Analyses the combination in series force amplifier in the technical characteristic , compare with series-connected force amplifier
Designed clamping device due to the series force amplifier as the basis to combine the advantages of various devices, and the overall layout with built-cylinder, the structure is extremely simple and compact, able to exceed and to maximize efficiency and volume, cost minimization . The pneumatic clamping device to drive the power source, pneumatic drive to clean the air as the transmission medium, as opposed to easy on the environment in terms of pollution of hydraulic transmission, In the protection of the environment has a significant advantage . Using the two-step or three-step force-amplifier, the device solved the shortcoming of lower press result in the smaller force of pneumatic drive system, and thus can be instead of the hydraulic clamping device in certain extent which easily leads to environmental pollution. The graphic example, corresponding formula of output force and mechanics characteristics curve are given which of important reference value and the guide meaning for engineering fields.
引文
1.吴志敏,熊锐.工业机械手运动学仿真.装备制造技术,2009,01: 30～31
2.蔡卫国.关节型搬运机械手设计.潍坊学院学报,2008,11: 63～64
3.于传浩,章涤峰.一种气动机械手夹持机构的设计.液压气动与密封, 2003,10: 27～28
4.郑洪生编著.气压传动.北京:机械工业出版社,1981.7
5.季明善编著.液气压传动.北京:机械工业出版社,2002.1
6.清华大学、上海大学流体传动及控制教研室.气压传动与控制.上海:上海科学技术出版社.1986.9
7.于传浩,章涤峰.一种气动机械手夹持机构的设计.液压气动与密封,2003(5):22,28
8. M.D.Wang, K.M.Zhong, D.W.Zuo, M.Wang. Green, Flexible, Intelligent: Clamping system based on thermal sensitive material with volume effect. Material Science Forum (Switzerland·Germany?UK?USA),2006,Vols.532～533:1028～1031
9.王明娣,钟康民,左敦稳.气动肌腱驱动的铰杆-杠杆增力机械手.机械制造, 2005,43(9):67～68
10.陆雯,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
11.哈尔滨工业大学,上海工业大学.机床夹具设计.上海:上海科学技术出版社,1980,48～62
12.林文焕等编著.机床夹具设计.北京:国防工业出版社,1987,107～156
13.《金属机械加工工艺人员手册》修订组.金属机械加工工艺人员手册.上海:上海科学技术出版社,1981,493～511
14.龚定安,蔡建国编著.机床设计原理.陕西:陕西科学技术出版社,1981,64～76
15.浦林祥编著.金属切削机床夹具设计手册.北京:机械工业出版社,1995,252～334
16.孟宪源编著.现代机构手册.北京:机械工业出版社,1994,58～89
17.巩秀长编著.机床夹具设计原理.山东:山东大学出版社,1993,94～113
18.钟康民等.基于斜楔增力的离心式内孔夹具.新技术新工艺,1995(5),17～18
19.钟康民等.钢球增力液压夹具.制造技术与机床,1999(11),47～48
20.钟康民等.正交增力离心式离合器.机械工程学报,2000(04),38～40
21.钟康民等.铰杆增力式离心离合器的工作原理与设计[J].制造技术与机床,2000(03),13～15
22.王红岩.正交增力离心式内孔夹具.制造技术与机床,2001(09),15～16
23.仇宏程.一种新型气液增压缸及其应用.液压与气动,2002(06),27～28
24.汪沛华.气动液压增力驱动装置的改进设计.液压气动与密封,2002(05),22～24
25.苏东宁等.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(04),301～302
26.苏东宁,钟康民.一种新型的钢球增力液压夹具.机械,2003(04),66～68
27.苏东宁等.铰杆增力机构中滑柱力学模型及计算公式的改善.济南大学学报,2003,17(1),35～37
28.苏东宁等.一种斜楔增力液压夹具的力学计算.山东农机,2003(09),9～10
29.苏东宁等.钢球增力液压夹具的力学计算.山东机械,2003(04),48～49
30.王明娣,钟康民.钢球传力式定位-锁紧组合元件及其力学计算.机械制造,2003(11),49～50
31.王明娣,钟康民.钢球-双锥面二次增力气动夹具.机械科学与技术,2003(11),107～108
32.曹华,钟康民.基于无杆活塞缸与机械增力机构的液压-机械复合传动装置.液压与气动,2004(11),71～72
33.王兵,钟康民.并联式双作用双级气液复合传动装置.液压与气动,2004(06),59～61
34.于江海等.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),49～50
35.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(06),79～79
36.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(10),71～72
37.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(8),73～74
38. E V Korobko ,R G Gorodkin , M M Ragotner. ERF used for fix2ing blanks when machining their surface[ C] .Belarus Academy of Sciences of Belarus ,1993(01)
39. Sugaya Y. Inoue O. IEEE Transaction on Magnetics, 1995(03)
40.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
41. R.F.Fung,KenWang chen. Dynamic Analysis and vibration Control of a Flexible slider-crank Mechanism using a PM synchronous servo Motor drive[J].Journal of Sound and Vibration,1998,214(4):605～637
42. Shivpuri R.s.Yossifon. A servo motor driven multi-action Press for sheet metal Forming[J].International journal of Machinery tool Manufacture,1991,31:345～359
43. Shivpuri R.s.Yossifon. Analysis and comparison of selected rotary linkage drives for mechanical Press[J]. Intenationa1 Journa1 of Machinery tool Manufacture,1993,2:175～189
44.宋学义主编.袖珍液压气动技术手册.北京:机械工业出版社,1995
2.蔡卫国.关节型搬运机械手设计.潍坊学院学报,2008,11: 63～64
3.于传浩,章涤峰.一种气动机械手夹持机构的设计.液压气动与密封, 2003,10: 27～28
4.郑洪生编著.气压传动.北京:机械工业出版社,1981.7
5.季明善编著.液气压传动.北京:机械工业出版社,2002.1
6.清华大学、上海大学流体传动及控制教研室.气压传动与控制.上海:上海科学技术出版社.1986.9
7.于传浩,章涤峰.一种气动机械手夹持机构的设计.液压气动与密封,2003(5):22,28
8. M.D.Wang, K.M.Zhong, D.W.Zuo, M.Wang. Green, Flexible, Intelligent: Clamping system based on thermal sensitive material with volume effect. Material Science Forum (Switzerland·Germany?UK?USA),2006,Vols.532～533:1028～1031
9.王明娣,钟康民,左敦稳.气动肌腱驱动的铰杆-杠杆增力机械手.机械制造, 2005,43(9):67～68
10.陆雯,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
11.哈尔滨工业大学,上海工业大学.机床夹具设计.上海:上海科学技术出版社,1980,48～62
12.林文焕等编著.机床夹具设计.北京:国防工业出版社,1987,107～156
13.《金属机械加工工艺人员手册》修订组.金属机械加工工艺人员手册.上海:上海科学技术出版社,1981,493～511
14.龚定安,蔡建国编著.机床设计原理.陕西:陕西科学技术出版社,1981,64～76
15.浦林祥编著.金属切削机床夹具设计手册.北京:机械工业出版社,1995,252～334
16.孟宪源编著.现代机构手册.北京:机械工业出版社,1994,58～89
17.巩秀长编著.机床夹具设计原理.山东:山东大学出版社,1993,94～113
18.钟康民等.基于斜楔增力的离心式内孔夹具.新技术新工艺,1995(5),17～18
19.钟康民等.钢球增力液压夹具.制造技术与机床,1999(11),47～48
20.钟康民等.正交增力离心式离合器.机械工程学报,2000(04),38～40
21.钟康民等.铰杆增力式离心离合器的工作原理与设计[J].制造技术与机床,2000(03),13～15
22.王红岩.正交增力离心式内孔夹具.制造技术与机床,2001(09),15～16
23.仇宏程.一种新型气液增压缸及其应用.液压与气动,2002(06),27～28
24.汪沛华.气动液压增力驱动装置的改进设计.液压气动与密封,2002(05),22～24
25.苏东宁等.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(04),301～302
26.苏东宁,钟康民.一种新型的钢球增力液压夹具.机械,2003(04),66～68
27.苏东宁等.铰杆增力机构中滑柱力学模型及计算公式的改善.济南大学学报,2003,17(1),35～37
28.苏东宁等.一种斜楔增力液压夹具的力学计算.山东农机,2003(09),9～10
29.苏东宁等.钢球增力液压夹具的力学计算.山东机械,2003(04),48～49
30.王明娣,钟康民.钢球传力式定位-锁紧组合元件及其力学计算.机械制造,2003(11),49～50
31.王明娣,钟康民.钢球-双锥面二次增力气动夹具.机械科学与技术,2003(11),107～108
32.曹华,钟康民.基于无杆活塞缸与机械增力机构的液压-机械复合传动装置.液压与气动,2004(11),71～72
33.王兵,钟康民.并联式双作用双级气液复合传动装置.液压与气动,2004(06),59～61
34.于江海等.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),49～50
35.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(06),79～79
36.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(10),71～72
37.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(8),73～74
38. E V Korobko ,R G Gorodkin , M M Ragotner. ERF used for fix2ing blanks when machining their surface[ C] .Belarus Academy of Sciences of Belarus ,1993(01)
39. Sugaya Y. Inoue O. IEEE Transaction on Magnetics, 1995(03)
40.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
41. R.F.Fung,KenWang chen. Dynamic Analysis and vibration Control of a Flexible slider-crank Mechanism using a PM synchronous servo Motor drive[J].Journal of Sound and Vibration,1998,214(4):605～637
42. Shivpuri R.s.Yossifon. A servo motor driven multi-action Press for sheet metal Forming[J].International journal of Machinery tool Manufacture,1991,31:345～359
43. Shivpuri R.s.Yossifon. Analysis and comparison of selected rotary linkage drives for mechanical Press[J]. Intenationa1 Journa1 of Machinery tool Manufacture,1993,2:175～189
44.宋学义主编.袖珍液压气动技术手册.北京:机械工业出版社,1995