基于基元式夹钳机构设计方法及性能的研究
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摘要
夹钳装置归属于起重机械的取物装置一类。取物装置是将起吊物品与起升机构联系起来,并使起重机进行正常作业的一个重要部件。现有的取物装置大致分为通用取物装置(吊钩吊环等)和专用取物装置(夹钳集装箱吊具等)。给通用起重机配置上各种专用取物装置,就可以代替各种专用起重机实现多种工作要求。这是起重机发展的一种趋势。本文力图建立夹钳取物装置机构设计的一般方法,为以后的设计者提供有价值的理论基础和实用设计资料。
本文以夹取机构的设计为主线,讨论夹取机构设计中的一系列问题。首先,基于基元式机构创新设计方法建立夹取机构方案,探讨了夹取机构的基本单元,在此基础上进行了机构拓扑,最后得出了多种夹取机构运动方案。其次对夹钳机构的构件尺寸进行了计算,在计算过程中对重要参数进行了研究,通过建立的夹钳机构的力学模型,对典型夹取机构进行了运动学分析,最后运用PRO/E对20T机械杠杆式夹钳进行了建模,并进行了相关零部件设计,利用ADAMS软件对主要零部件进行动力学仿真。其研究成果已用于样机研制,取得了预期效果。
本文较全面的研究了夹取机构设计的关键技术,通过引入基元式机构创新设计方法,建立了夹取机构的基本单元,进行了方案设计与机构综合,建立了夹钳机构的力学模型,为夹取机构设计提供了一种有效的实用的方法。
Clamp is ascribed to extract devices of lifting equipment. Extract device is important component, linking work-piece to hoisting mechanism. Extract device is divided into two kinds. One is dedicated (spreader hoisting mechanism etc.), The other is current general (crane hook、lifting bolt etc.). Allocating dedicated clamp device to general lifting equipment could implement many special functions. It is development tendency of lifting equipment. This article tries to establish general method to design clamp device, to provide valuable theory and information on engineering for designer.
This article discuss series design project of clamp around the design of clamp mechanism. Firstly, establish kinematics precept design on base of the elementary method of mechanism creation design. Discuss basic cell of clamp mechanism. Topology 2-10 bar clamp mechanism by basic cell. The second, Introduce the process of dimension calculation of clamp mechanism. Discuss the key parameter on the process of dimension calculation. Establish mechanical model of clamp mechanism for kinematics analysis. Lastly, Apply PRO/E to create 3D model of the pars of 20T mechanical clamp device. Discuss ADAMS-based the process of kinetics simulation of 20T mechanical clamp device.
The value of this article is establishing the general method of clamp device all-round, discussing the core part of clamp design process. On kinematics precept design, introduce the elementary method of mechanism creation design. Find the basic cell of clamp. Discuss the process of synthesis of mechanism of clamp device. Provide the experience to clamp designer. For kinematics analysis, creat the basic mechanical model of clamp mechanism. Solve the kinematics project to apply traditional analytical method.
本文以夹取机构的设计为主线,讨论夹取机构设计中的一系列问题。首先,基于基元式机构创新设计方法建立夹取机构方案,探讨了夹取机构的基本单元,在此基础上进行了机构拓扑,最后得出了多种夹取机构运动方案。其次对夹钳机构的构件尺寸进行了计算,在计算过程中对重要参数进行了研究,通过建立的夹钳机构的力学模型,对典型夹取机构进行了运动学分析,最后运用PRO/E对20T机械杠杆式夹钳进行了建模,并进行了相关零部件设计,利用ADAMS软件对主要零部件进行动力学仿真。其研究成果已用于样机研制,取得了预期效果。
本文较全面的研究了夹取机构设计的关键技术,通过引入基元式机构创新设计方法,建立了夹取机构的基本单元,进行了方案设计与机构综合,建立了夹钳机构的力学模型,为夹取机构设计提供了一种有效的实用的方法。
Clamp is ascribed to extract devices of lifting equipment. Extract device is important component, linking work-piece to hoisting mechanism. Extract device is divided into two kinds. One is dedicated (spreader hoisting mechanism etc.), The other is current general (crane hook、lifting bolt etc.). Allocating dedicated clamp device to general lifting equipment could implement many special functions. It is development tendency of lifting equipment. This article tries to establish general method to design clamp device, to provide valuable theory and information on engineering for designer.
This article discuss series design project of clamp around the design of clamp mechanism. Firstly, establish kinematics precept design on base of the elementary method of mechanism creation design. Discuss basic cell of clamp mechanism. Topology 2-10 bar clamp mechanism by basic cell. The second, Introduce the process of dimension calculation of clamp mechanism. Discuss the key parameter on the process of dimension calculation. Establish mechanical model of clamp mechanism for kinematics analysis. Lastly, Apply PRO/E to create 3D model of the pars of 20T mechanical clamp device. Discuss ADAMS-based the process of kinetics simulation of 20T mechanical clamp device.
The value of this article is establishing the general method of clamp device all-round, discussing the core part of clamp design process. On kinematics precept design, introduce the elementary method of mechanism creation design. Find the basic cell of clamp. Discuss the process of synthesis of mechanism of clamp device. Provide the experience to clamp designer. For kinematics analysis, creat the basic mechanical model of clamp mechanism. Solve the kinematics project to apply traditional analytical method.
引文
[1]崔俊芝.计算机辅助工程(CAE)的现在和未来[J] .计算机辅助设计与制造,2000 (6):3-7
[2] Willian H Cubberly, Ramon Bakerjian, Cmfgt. Tool and manufacturing engineers hand book [M] .SME Dearborn, Michigan, 1990
[3]过玉卿起重运输机械武汉:华中理工大学出版社,1992.11
[4] C.H.柯热夫尼柯夫耶西品柯腊斯金孟宪源机构参考图册北京:机械工业出版社, 1981.3.
[5]孟宪源现代机构手册北京:机械工业出版社,1994.6
[6]杨廷力机构学理论研究与进展机械工程学报,1995,3(2):1-25
[7]杨廷力机械系统基本理论北京:机械工业出版社,1996
[8]王知行,关立文,李建生,等平面连杆机构综合数值比较法的研究机械工程学报,2000,36(2):47-50
[9]王知行,陈照波,江鲁利用连杆转角曲线进行平面连杆机构轨迹综合研究第九届机构学学术讨论会论文集,1994:53-56
[10]刘伟,黄茂林平面多杆机构高阶函数发生器的综合//《天津大学学报》编辑部第七届机构学学术讨论会论文集天津:天津大学出版社,1990:116-120
[11]黄茂林,谢林平面连杆函数发生器的等价机构综合法/《/天津大学学报》编辑部第七届机构学学术讨论会论文集天津:天津大学出版社,1990:121-125
[12]华大年,华志彦,吕静平连杆机构设计上海:上海科学技术出版社,1995
[13]曹惟庆连杆机构的分析与综合北京:科学出版社,2002
[14]曹龙华,蒋希成平面连杆机构综合
[15] J.伏尔默等连杆机构北京:机械工业出版社,1988
[16] Robert L. Norton Design of Machinery An Introduction of the Synthesis and Analysis of Mechanisms and Machines The McGraw-Hill Company, Inc. 2001
[17] Kurt Luck, Karl-Heinz Modler Getriebetechnik Analyse Synthese Optimierung,1990
[18] E·J·豪格机械系统的计算机辅助运动学和动力学北京:机械工业出版社,1995
[19]陈立平,张云清等机械系统动力学分析及ADMS应用教程北京:清华大学出版社,2005.1
[20]李增刚ADAMS入门详解与实例北京:国防工业出版社,2009.8
[21] Soni A H. Mechanism synthesis and analysis. New York: McGraw-Hill, 1974.
[22] Yan H S. Creative design of mechanical devices. Singapore: Springer, 1998.
[23]瞿家骏.基元式机构概念设计方法之研究.台湾:国立成功大学机械工程学院,2004
[24] Yan Sijie,Zhou Yunfei, Peng Fangyu,Lai Xide.Research on the localisation of the workpieces with large sculptured surfaces in NC machining.International Journal of Advanced Manufacturing Technology, 2004, Vol. 23, No.5-6, p 429-435.
[25] B. Li, X. Y. Mao et al. A new method for directly measuring the position errors of a three-axis machine. Part 1: theory, Int J Adv anuf Technol (2008) 35:1079–1084 DOI 10.1007/s00170-006-0790-1
[26] X. Y. Mao, B. Li et al. Development of a 3D-Step-Gauge and the assemble error correction analysis, Frontiers of Mechanical Engineering in China. 2007,2 (4):388-393
[27] X. Y. Mao, B. Li et al. A new technique for directly measuring the position errors of a 3-axis machine. Part 2: application, Int J Adv Manuf Technol (2008) 35:1085–1089 DOI 10.1007/s00170-007-1229-z.
[28] X. Y. Mao, B. Li et al. Development of a 3D-Step-Gauge and the assemble error correction analysis, Frontiers of Mechanical Engineering in China. 2007,2 (4):388-393.
[29] Huang Z, Wang J, Fang Y F. Analysis of instantaneous motions of deficient-Rank 3-RPS parallel manipulator. Mechanism and machine Theory, 2002,37(2):299-340
[30] Huang Z, Wang J. Analysis of principal screws of 3-DOF 3-RPS parallel manipulators by quadric degeneration. Mechanism and Machine Theory,2001,36(8):893-911
[31] Huang Z, Zhao Y S, Wang J, et al. kinematic principal and geometrical condition of general linear-complex special configuration of parallel manipulator. Mechanism and machine theory. 1999, 34(8): 1171-1181
[32] Yu Yueqing. Optimum design of the RSS’R flexible mechanism via multiplier techaniques. Mechanism and machine theory, 1993, 28(5):625-630
[33] Zhang Xianmin, Shen Yunwen. Optimum design of flexible mechanisms with frequency constrains. Mechanism and machine theory,1995,30(1):131-139
[34] Yu Yueqing. Active design of a flexible space mechanism with optional characteristics. Mechanism and Machine Theory, 1995,30(3):451-459
[35] Yu Yueqing. The effect of cross-sectional parameters on the dynamics of elastic mechanisms. Mechanism and Machine Theory. 1996,31(7):947-955
[36] Wang Yuxin. Multi-frequency resonances of flexible linkage. Mechanism and Machine Theory. 1998,33(3):255-271
[37] Li Zhe. Balancing of mechanisms with input speed fluctuation. China Journal ofMechanical Engineering, 1997,23(40):77-82
[38] Zhang Shemin, Chen Jihong. The optimum balance of shaking force and shaking moment of linkage. Mechanism and machine theory, 1995,30(4):589-597.
[39] Niu Mingqi, Pennestri E. Optimun balancing of four-bar linkages, a refined algorithm. Mechanism and Machine Theory,1991, 26(3):337-348
[40] Zhang Xuping, Yu Yueqing. A New spatial rotor beam element for modeling spatial manipulators with Joint and link flexibility. Mechanism and Machine Theory,2000,35:895-909
[2] Willian H Cubberly, Ramon Bakerjian, Cmfgt. Tool and manufacturing engineers hand book [M] .SME Dearborn, Michigan, 1990
[3]过玉卿起重运输机械武汉:华中理工大学出版社,1992.11
[4] C.H.柯热夫尼柯夫耶西品柯腊斯金孟宪源机构参考图册北京:机械工业出版社, 1981.3.
[5]孟宪源现代机构手册北京:机械工业出版社,1994.6
[6]杨廷力机构学理论研究与进展机械工程学报,1995,3(2):1-25
[7]杨廷力机械系统基本理论北京:机械工业出版社,1996
[8]王知行,关立文,李建生,等平面连杆机构综合数值比较法的研究机械工程学报,2000,36(2):47-50
[9]王知行,陈照波,江鲁利用连杆转角曲线进行平面连杆机构轨迹综合研究第九届机构学学术讨论会论文集,1994:53-56
[10]刘伟,黄茂林平面多杆机构高阶函数发生器的综合//《天津大学学报》编辑部第七届机构学学术讨论会论文集天津:天津大学出版社,1990:116-120
[11]黄茂林,谢林平面连杆函数发生器的等价机构综合法/《/天津大学学报》编辑部第七届机构学学术讨论会论文集天津:天津大学出版社,1990:121-125
[12]华大年,华志彦,吕静平连杆机构设计上海:上海科学技术出版社,1995
[13]曹惟庆连杆机构的分析与综合北京:科学出版社,2002
[14]曹龙华,蒋希成平面连杆机构综合
[15] J.伏尔默等连杆机构北京:机械工业出版社,1988
[16] Robert L. Norton Design of Machinery An Introduction of the Synthesis and Analysis of Mechanisms and Machines The McGraw-Hill Company, Inc. 2001
[17] Kurt Luck, Karl-Heinz Modler Getriebetechnik Analyse Synthese Optimierung,1990
[18] E·J·豪格机械系统的计算机辅助运动学和动力学北京:机械工业出版社,1995
[19]陈立平,张云清等机械系统动力学分析及ADMS应用教程北京:清华大学出版社,2005.1
[20]李增刚ADAMS入门详解与实例北京:国防工业出版社,2009.8
[21] Soni A H. Mechanism synthesis and analysis. New York: McGraw-Hill, 1974.
[22] Yan H S. Creative design of mechanical devices. Singapore: Springer, 1998.
[23]瞿家骏.基元式机构概念设计方法之研究.台湾:国立成功大学机械工程学院,2004
[24] Yan Sijie,Zhou Yunfei, Peng Fangyu,Lai Xide.Research on the localisation of the workpieces with large sculptured surfaces in NC machining.International Journal of Advanced Manufacturing Technology, 2004, Vol. 23, No.5-6, p 429-435.
[25] B. Li, X. Y. Mao et al. A new method for directly measuring the position errors of a three-axis machine. Part 1: theory, Int J Adv anuf Technol (2008) 35:1079–1084 DOI 10.1007/s00170-006-0790-1
[26] X. Y. Mao, B. Li et al. Development of a 3D-Step-Gauge and the assemble error correction analysis, Frontiers of Mechanical Engineering in China. 2007,2 (4):388-393
[27] X. Y. Mao, B. Li et al. A new technique for directly measuring the position errors of a 3-axis machine. Part 2: application, Int J Adv Manuf Technol (2008) 35:1085–1089 DOI 10.1007/s00170-007-1229-z.
[28] X. Y. Mao, B. Li et al. Development of a 3D-Step-Gauge and the assemble error correction analysis, Frontiers of Mechanical Engineering in China. 2007,2 (4):388-393.
[29] Huang Z, Wang J, Fang Y F. Analysis of instantaneous motions of deficient-Rank 3-RPS parallel manipulator. Mechanism and machine Theory, 2002,37(2):299-340
[30] Huang Z, Wang J. Analysis of principal screws of 3-DOF 3-RPS parallel manipulators by quadric degeneration. Mechanism and Machine Theory,2001,36(8):893-911
[31] Huang Z, Zhao Y S, Wang J, et al. kinematic principal and geometrical condition of general linear-complex special configuration of parallel manipulator. Mechanism and machine theory. 1999, 34(8): 1171-1181
[32] Yu Yueqing. Optimum design of the RSS’R flexible mechanism via multiplier techaniques. Mechanism and machine theory, 1993, 28(5):625-630
[33] Zhang Xianmin, Shen Yunwen. Optimum design of flexible mechanisms with frequency constrains. Mechanism and machine theory,1995,30(1):131-139
[34] Yu Yueqing. Active design of a flexible space mechanism with optional characteristics. Mechanism and Machine Theory, 1995,30(3):451-459
[35] Yu Yueqing. The effect of cross-sectional parameters on the dynamics of elastic mechanisms. Mechanism and Machine Theory. 1996,31(7):947-955
[36] Wang Yuxin. Multi-frequency resonances of flexible linkage. Mechanism and Machine Theory. 1998,33(3):255-271
[37] Li Zhe. Balancing of mechanisms with input speed fluctuation. China Journal ofMechanical Engineering, 1997,23(40):77-82
[38] Zhang Shemin, Chen Jihong. The optimum balance of shaking force and shaking moment of linkage. Mechanism and machine theory, 1995,30(4):589-597.
[39] Niu Mingqi, Pennestri E. Optimun balancing of four-bar linkages, a refined algorithm. Mechanism and Machine Theory,1991, 26(3):337-348
[40] Zhang Xuping, Yu Yueqing. A New spatial rotor beam element for modeling spatial manipulators with Joint and link flexibility. Mechanism and Machine Theory,2000,35:895-909