高速数控加工中心自动换刀装置机械手优化及动态测试平台检测
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摘要
自动换刀装置是数控加工中心的重要组成部分,是缩短非切削加工时间,提高生产效率的关键环节。目前国内外在加工中心的振动抑制、切削速度等方面的研究取得了很多成果,但是如何提升自动换刀装置的换刀能力,保证其换刀的可靠性,同时能够时时检测其整个换刀过程中的换刀性能仍然是目前研究的一个难点问题。本文主要针对高速数控加工中心自动换到装置的动态特性进行研究,研究的主要内容如下：
首先针对高速数控机床自动换刀装置的机械手换刀能力和换刀过程中装置各部件的换刀性能进行了研究分析,调研了国内外高档数控机床的研究发展现状,包括目前主要使用的自动换刀方式,重点研究了凸轮式自动换刀装置的换刀原理和特点。
其次,搭建了凸轮式自动换刀装置的虚拟平台,对其性能进行仿真与理论分析结果进行对比分析,计算出换刀过程中机械手的受力薄弱点,并以此作为依据对机械手的结构进行改进设计,并运用ANSYS和ADAMS对新型机械手进行优化分析,仿真得到新型机械手在换刀性能方面与原有机械手对比有明显的提高。
再次,分析了影响自动换刀装置换刀速度及稳定性的因素,在此基础上开发了自动换刀装置动态性能测试平台用于采集换刀过程中的特征信号,并开发了信号处理与分析软件及测试平台人机交互界面。
最后,通过现场试验,对换刀机械手换刀过程中的动态特性进行了测试,并对测试结果进行分析,分析结果表明换刀装置的振动状态,夹刀能力等是影响其换刀性能的关键因素。
The automatic tool changer is an important part of the CNC machining center, it is the key link to shorten the non-machining time and improve the production efficiency. There has achieved a lot study on the vibration suppression, cutting speed and other aspects of the processing center at home and abroad, but how to improve the tool changer ability and ensure the reliability of the automatic tool changer, at the same time be able to detect the tool changer performance at the tool changer processing is still a difficult problem. The paper focus on the dynamic characteristics of the high-speed CNC machining centers of automatic tool changer, the study is as follows:
Firstly, the paper analysis the tool changer capacity and performance of various components in the tool changer processing of the high-speed CNC machine automatic tool changer device, research the development status of high-grade CNC machine tool, including the mainly using automatic tool changer system at present, focus on the principles and characteristics of the cam-type automatic tool changer.
Secondly, build a cam-type automatic tool changer virtual platform to simulate its performance and make a comparison with the theoretical analysis results, calculate the force weakness affected by the manipulator in the tool changer processing and as the basis for improving the structure design of the manipulator, use ANSYS and ADAMS to optimize and analysis the new manipulator, the simulation result shows the new manipulator has significantly improved.
Thirdly, analysis the factors affecting the speed and stability of the automatic tool changer, on the basis of that develop a test platform for the dynamic performance of the automatic tool changer to acquire the characteristic signal in the tool change processing, and the development of signal processing and analysis software testing and test platform interactive interface
Finally, through on-site testing of the dynamic characteristics of the tool changer in tool change processing, the analysis results showed that the vibration state of the tool changer and the folder knife ability are the critical factors to affect the tool change performance.
首先针对高速数控机床自动换刀装置的机械手换刀能力和换刀过程中装置各部件的换刀性能进行了研究分析,调研了国内外高档数控机床的研究发展现状,包括目前主要使用的自动换刀方式,重点研究了凸轮式自动换刀装置的换刀原理和特点。
其次,搭建了凸轮式自动换刀装置的虚拟平台,对其性能进行仿真与理论分析结果进行对比分析,计算出换刀过程中机械手的受力薄弱点,并以此作为依据对机械手的结构进行改进设计,并运用ANSYS和ADAMS对新型机械手进行优化分析,仿真得到新型机械手在换刀性能方面与原有机械手对比有明显的提高。
再次,分析了影响自动换刀装置换刀速度及稳定性的因素,在此基础上开发了自动换刀装置动态性能测试平台用于采集换刀过程中的特征信号,并开发了信号处理与分析软件及测试平台人机交互界面。
最后,通过现场试验,对换刀机械手换刀过程中的动态特性进行了测试,并对测试结果进行分析,分析结果表明换刀装置的振动状态,夹刀能力等是影响其换刀性能的关键因素。
The automatic tool changer is an important part of the CNC machining center, it is the key link to shorten the non-machining time and improve the production efficiency. There has achieved a lot study on the vibration suppression, cutting speed and other aspects of the processing center at home and abroad, but how to improve the tool changer ability and ensure the reliability of the automatic tool changer, at the same time be able to detect the tool changer performance at the tool changer processing is still a difficult problem. The paper focus on the dynamic characteristics of the high-speed CNC machining centers of automatic tool changer, the study is as follows:
Firstly, the paper analysis the tool changer capacity and performance of various components in the tool changer processing of the high-speed CNC machine automatic tool changer device, research the development status of high-grade CNC machine tool, including the mainly using automatic tool changer system at present, focus on the principles and characteristics of the cam-type automatic tool changer.
Secondly, build a cam-type automatic tool changer virtual platform to simulate its performance and make a comparison with the theoretical analysis results, calculate the force weakness affected by the manipulator in the tool changer processing and as the basis for improving the structure design of the manipulator, use ANSYS and ADAMS to optimize and analysis the new manipulator, the simulation result shows the new manipulator has significantly improved.
Thirdly, analysis the factors affecting the speed and stability of the automatic tool changer, on the basis of that develop a test platform for the dynamic performance of the automatic tool changer to acquire the characteristic signal in the tool change processing, and the development of signal processing and analysis software testing and test platform interactive interface
Finally, through on-site testing of the dynamic characteristics of the tool changer in tool change processing, the analysis results showed that the vibration state of the tool changer and the folder knife ability are the critical factors to affect the tool change performance.
引文
[1]朱振华.链式刀库及机械手自动换刀装置可靠性试验台研究[D].南京理工大学,2012.
[2]刘静.双凸轮联动自动换刀技术的研究[D].大连理工大学,2008.
[3]常宗瑜,张策,杨玉虎等.含间隙弧面分度凸轮机构动力学的实验研究[J].机械强度,2006,28(2)：173-177.
[4]刘建慧,邹慧君.加工中心自动换刀装置类型综述及设计特点[J].机械设计与研究,2001,(3)：49-51.
[5]王元军,杨琪,俞晖等.某型卧式加工中心自动换刀系统可靠性与故障分析[J].中国制造业信息化,2010,39(7)：75-78.
[6]李宗斌.加工中心换刀机械手的设计与计算[J].西北轻工业学院学报,1994,(12)：2-6.
[7]CHEN F C,YAN H S. Configuration synthesis of machining centers with tool change mechanisms [J].International Journal of Maehine tools&Manufaeture, 1999,39:273-295.
[8]赵辉.数控机床的发展历史及其技术的发展趋势[J].内蒙古科技与经济,2007,(16)：51.
[9]韩越梅.加工中心自动换刀装置的研究进展[J].装备制造技术,2010,(5)：128-129.
[10]田春霞.基于虚拟现实的刀库换刀教学系统研究与实现[D].大连理工大学,2007.
[11]刘芳.一种国外的数控回转刀架[J].机械制造,1999.(3)：30-31.
[12]STEFAN D Fatigue life prediction of a railway bogie under dynamic loads through simulation[J].Vehicle System Dynamic,1998,29(3):385-402.
[13]CON M,LIU D,LIU Recent patents in automatic tool changers and applications.Recent Patents on Engineering,2009,25(3):125-127.
[14]戚洪利.自动换刀装置及其控制的研究[D].兰州理工大学,2007.
[15]刘冬.双凸轮联动自动换刀装置多体动力学仿真研究[D].大连理工大学,2010.12.
[16]王科社.加工中心ATC凸轮式与液压式的比较,组合机床与自动化加工技术[J].1995,(9)：38-40.
[17]陈雪峰.弧面凸轮机械手系列化及CAD[D].西北轻工业学院,2001.
[18]续彦芳,崔俊杰,苏铁雄等.虚拟样机技术及其在ADAMS中的应用[J].机械管 理开发,2005,(1)：70-73.
[19]孙树峰.基于B样条的空间凸轮设计及加工技术研究[D].山东大学,2004.
[20]马毅.航天器展开机构虚拟样机动力学仿真研究[D].中国科学院空间科学与应用研究中心,2006.
[21]刘丽平.铝合金再生炉电磁搅拌的数值模拟.东北大学[D],2005.
[22]王欣,徐树成,任吉堂等.有限元软件ANSYS的二次开发及其与VB的连接[J].河北理工学院学报,2004,26(4)：37-39.
[23]黄辉,王毅.ANSYS在”工程电磁场”教学中的应用[J].电气电子教学学报,2005,27(4)：88-91.
[24]姚成.专用汽车结构拓扑优化设计及强度分析[D].合肥工业大学,2002.05.
[25]张传思.硅片传输机器人手臂的拓扑优化设计[D].大连理工大学,2001.12.
[26]李玉霞,刮板输送机轨座的拓扑优化分析[D].河北工业大学,2006.
[271汪伟.车架结构有限元分析与优化设计[D].南昌大学,2010.
[28]徐伟.工程车辆车架的拓扑优化与减重设计[D].南京理工大学,2007.
[29]王宏强.基于小波系数变换的小波阀值去噪算法与改进[J].振动与冲击,2011.10(30)：166-168.
[30]Takahiro Saito,Nobihiro Fujii,Shingo Yoshioka etal.SPATIALLY-ADAPTIVE WAVELET DENOISING SCHEME WITH LINEAR COLOR SHRINKAGE [C].16th European Signal Processing Conference (EUSIPCO-2008).2008:71-75.
[31]徐铮伟.波阈值特征选取与去噪研究[D].长春吉林大学,2008.
[32]应荣镕,张辉辉,闻虎等.基于RBF和BP神经网络计算船舶碰撞危险度[C].2008年海洋船舶安全理论与实践研讨会论文集.2008：179-183.
[33]朱艳芹.基于LabVIEW的小波去噪技术的研究及应用[D].武汉工程大学,2008.
[2]刘静.双凸轮联动自动换刀技术的研究[D].大连理工大学,2008.
[3]常宗瑜,张策,杨玉虎等.含间隙弧面分度凸轮机构动力学的实验研究[J].机械强度,2006,28(2)：173-177.
[4]刘建慧,邹慧君.加工中心自动换刀装置类型综述及设计特点[J].机械设计与研究,2001,(3)：49-51.
[5]王元军,杨琪,俞晖等.某型卧式加工中心自动换刀系统可靠性与故障分析[J].中国制造业信息化,2010,39(7)：75-78.
[6]李宗斌.加工中心换刀机械手的设计与计算[J].西北轻工业学院学报,1994,(12)：2-6.
[7]CHEN F C,YAN H S. Configuration synthesis of machining centers with tool change mechanisms [J].International Journal of Maehine tools&Manufaeture, 1999,39:273-295.
[8]赵辉.数控机床的发展历史及其技术的发展趋势[J].内蒙古科技与经济,2007,(16)：51.
[9]韩越梅.加工中心自动换刀装置的研究进展[J].装备制造技术,2010,(5)：128-129.
[10]田春霞.基于虚拟现实的刀库换刀教学系统研究与实现[D].大连理工大学,2007.
[11]刘芳.一种国外的数控回转刀架[J].机械制造,1999.(3)：30-31.
[12]STEFAN D Fatigue life prediction of a railway bogie under dynamic loads through simulation[J].Vehicle System Dynamic,1998,29(3):385-402.
[13]CON M,LIU D,LIU Recent patents in automatic tool changers and applications.Recent Patents on Engineering,2009,25(3):125-127.
[14]戚洪利.自动换刀装置及其控制的研究[D].兰州理工大学,2007.
[15]刘冬.双凸轮联动自动换刀装置多体动力学仿真研究[D].大连理工大学,2010.12.
[16]王科社.加工中心ATC凸轮式与液压式的比较,组合机床与自动化加工技术[J].1995,(9)：38-40.
[17]陈雪峰.弧面凸轮机械手系列化及CAD[D].西北轻工业学院,2001.
[18]续彦芳,崔俊杰,苏铁雄等.虚拟样机技术及其在ADAMS中的应用[J].机械管 理开发,2005,(1)：70-73.
[19]孙树峰.基于B样条的空间凸轮设计及加工技术研究[D].山东大学,2004.
[20]马毅.航天器展开机构虚拟样机动力学仿真研究[D].中国科学院空间科学与应用研究中心,2006.
[21]刘丽平.铝合金再生炉电磁搅拌的数值模拟.东北大学[D],2005.
[22]王欣,徐树成,任吉堂等.有限元软件ANSYS的二次开发及其与VB的连接[J].河北理工学院学报,2004,26(4)：37-39.
[23]黄辉,王毅.ANSYS在”工程电磁场”教学中的应用[J].电气电子教学学报,2005,27(4)：88-91.
[24]姚成.专用汽车结构拓扑优化设计及强度分析[D].合肥工业大学,2002.05.
[25]张传思.硅片传输机器人手臂的拓扑优化设计[D].大连理工大学,2001.12.
[26]李玉霞,刮板输送机轨座的拓扑优化分析[D].河北工业大学,2006.
[271汪伟.车架结构有限元分析与优化设计[D].南昌大学,2010.
[28]徐伟.工程车辆车架的拓扑优化与减重设计[D].南京理工大学,2007.
[29]王宏强.基于小波系数变换的小波阀值去噪算法与改进[J].振动与冲击,2011.10(30)：166-168.
[30]Takahiro Saito,Nobihiro Fujii,Shingo Yoshioka etal.SPATIALLY-ADAPTIVE WAVELET DENOISING SCHEME WITH LINEAR COLOR SHRINKAGE [C].16th European Signal Processing Conference (EUSIPCO-2008).2008:71-75.
[31]徐铮伟.波阈值特征选取与去噪研究[D].长春吉林大学,2008.
[32]应荣镕,张辉辉,闻虎等.基于RBF和BP神经网络计算船舶碰撞危险度[C].2008年海洋船舶安全理论与实践研讨会论文集.2008：179-183.
[33]朱艳芹.基于LabVIEW的小波去噪技术的研究及应用[D].武汉工程大学,2008.