【摘要】：在當(dāng)今工業(yè)生產(chǎn)中,數(shù)控技術(shù)越來越趨于成熟,為了大幅度提高工業(yè)自動化水平,數(shù)控機床功能部件的研發(fā)至關(guān)重要。機械手作為數(shù)控加工中心的關(guān)鍵部件,介于主軸和刀庫之間,主要作用就是將下一個工序所用的刀具和即將完成加工的當(dāng)前工序所用的刀具進(jìn)行調(diào)換,這樣可以提高加工效率。因此,本文以QH-3型數(shù)控機床換刀機械手為研究對象,針對現(xiàn)有機械手結(jié)構(gòu)中存在的不穩(wěn)定的因素,對其進(jìn)行三維建模、運動學(xué)驗證、有限元分析和疲勞分析,找出其中薄弱的環(huán)節(jié),對其結(jié)構(gòu)進(jìn)行優(yōu)化,該方法具有重要的理論指導(dǎo)意義以及實際應(yīng)用價值(在機械手的設(shè)計初期可以作為參考)。其中主要的研究內(nèi)容與數(shù)值分析結(jié)果如下:首先,既詳細(xì)介紹了數(shù)控機床機械手在國內(nèi)外歷史上發(fā)展的研究狀況從而引出本課題的研究意義又簡單表述了有限元法的中心思想和它廣泛的應(yīng)用,對現(xiàn)有機械手的圖紙中的每個零部件進(jìn)行三維建模,然后再將其組成一個完整的機械手系統(tǒng);對機械手系統(tǒng)進(jìn)行分析,掌握系統(tǒng)里面各零部件的作用,就可以有針對性的進(jìn)行運動學(xué)分析,通過建立坐標(biāo)系和運動方程論述機械手的工作過程,因為該工作過程符合機械手實際的運動方式,所以得出的方程是正確的。其次,對機械手進(jìn)行靜態(tài)和模態(tài)分析。將簡化后機械手的模型導(dǎo)入到ANSYS Workbench中得到有限元模型。靜力分析主要目的就是得出機械手的最大變形和應(yīng)力、應(yīng)變,并給出了變形和應(yīng)力云圖。從云圖中分析了最大變形和應(yīng)力發(fā)生的部位,為機械手的優(yōu)化提供了思路。模態(tài)分析時,首先闡明了機械手進(jìn)行模態(tài)分析的必要性,模態(tài)分析后得出機械手前六階固有頻率和振型,通過振型圖得出會影響機械手抓取刀具精度的振型。最后,對機械手進(jìn)行優(yōu)化設(shè)計和花鍵軸的疲勞壽命分析。針對靜態(tài)分析中得出機械手中固定手爪處產(chǎn)生的位移比較大,故對固定手抓進(jìn)行了優(yōu)化;對固定手爪單獨分析優(yōu)化后重新裝配再進(jìn)行靜力分析,得到的位移相對于優(yōu)化前的減小了16.6%,說明優(yōu)化的部位是正確的。優(yōu)化后整個機械手的固有頻率發(fā)生了改變,其中第一階固有頻率(基頻)相對于優(yōu)化前的得到了增加,這也從側(cè)面驗證了優(yōu)化部位的合理性。隨后,分別對花鍵軸在軸向力和扭矩這兩種情況下進(jìn)行了疲勞分析,得出花鍵軸在這兩種情況下的損傷云圖和壽命云圖,從兩張云圖中可以清楚地得到危險點和壽命較長的部分,這也為后續(xù)的優(yōu)化提供了依據(jù)。本文仿真分析的結(jié)果對數(shù)控機械手后續(xù)研究具有一定的理論上的參考意義。
[Abstract]:In today's industrial production, numerical control technology is becoming more and more mature. In order to greatly improve the level of industrial automation, the research and development of functional components of CNC machine tools is very important. As the key component of NC machining center, the manipulator is between the spindle and the tool storehouse. The main function of the manipulator is to replace the tool used in the next process with the tool used in the current process that is about to be completed, so that the machining efficiency can be improved. Therefore, in this paper, the tool changing manipulator of QH- 3 CNC machine tool is taken as the research object, and the 3D modeling, kinematic verification, finite element analysis and fatigue analysis are carried out according to the unstable factors existing in the existing manipulator structure. To find out the weak links and optimize its structure, this method has important theoretical guiding significance and practical application value (which can be used as a reference in the early stage of manipulator design). The main research contents and numerical analysis results are as follows: first of all, This paper not only introduces in detail the research status of the development of CNC machine tool manipulator at home and abroad, which leads to the research significance of this subject, but also briefly describes the central idea of finite element method and its wide application. The 3D modeling of each component in the drawing of the existing manipulator is carried out, and then it is formed into a complete manipulator system. By analyzing the manipulator system and mastering the function of each part in the system, the kinematic analysis can be carried out, and the working process of the manipulator can be discussed by establishing coordinate system and motion equation. Because the working process accords with the actual motion mode of the manipulator, the equation is correct. Secondly, the static and modal analysis of the manipulator is carried out. The model of the simplified manipulator is imported into ANSYS Workbench to obtain the finite element model. The main purpose of static analysis is to obtain the maximum deformation and stress and strain of the manipulator, and to give the deformation and stress cloud diagram. The location of maximum deformation and stress is analyzed from the cloud image, which provides an idea for the optimization of manipulator. In modal analysis, the necessity of modal analysis of manipulator is expounded at first. After modal analysis, the first six natural frequencies and vibration modes of manipulator are obtained, and the vibration modes that will affect the accuracy of manipulator grasping tool are obtained by mode diagram. Finally, the optimal design of the manipulator and the fatigue life analysis of the splice shaft are carried out. In view of the static analysis, it is concluded that the displacement at the fixed hand in the mechanical hand is relatively large, so the fixed hand grip is optimized. The static analysis is carried out after the fixed claw is analyzed and optimized separately, and then the static analysis is carried out, and the displacement obtained is reduced by 16.6% compared with that before optimization, which indicates that the optimized position is correct. After optimization, the natural frequency of the whole manipulator is changed, and the first natural frequency (fundamental frequency) is increased compared with that before optimization, which also verifies the rationality of the optimized position from the side. Then, the fatigue analysis of the splice shaft under the axial force and torque is carried out, and the damage cloud diagram and the life cloud diagram of the splice shaft in these two cases are obtained. The dangerous points and long life can be clearly obtained from the two cloud images, which also provides the basis for the subsequent optimization. The results of simulation analysis in this paper have certain theoretical reference significance for the follow-up research of NC manipulator.
【學(xué)位授予單位】：蘭州理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP241;TG659

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