【摘要】：高壓鑄造堰切斷工位是氣缸體毛坯生產的一個重要工位，同時也是生產的薄弱環(huán)節(jié)，搬運機構為該工位的專用設備。搬運機構的設計需要滿足工作要求與精度要求，提高安全性，降低運行成本。以車間內常用物料輸送形式（主要包括手動式、運輸車式、起重式、輸送機式和以工業(yè)機器人為代表的自動搬運形式）為依據并結合氣缸體的結構特點來進行搬運機構的設計。 為更好地滿足功能與性能要求，，從不同角度提出四種設計方案：托運式、直角機械手式、關節(jié)機械手式與框架式。對各方案進行綜合分析，得出各方案都能滿足功能要求，從安全性考慮并結合綜合性能指標，選擇托運式作為最終方案。 在總體方案的基礎上對托運式搬運機構進行了系統(tǒng)設計。從功能實現與關鍵零件設計角度展開，完成了輸送輥道與支架、送料機構、主機構和接料機構的具體設計。同時運用拓撲優(yōu)化指導關鍵零件的設計。為了減輕工人勞動強度與提高精度，采用PLC進行控制，根據不同條件分別采用手動控制、半自動控制、自動控制三種控制方式。 定位精度是搬運機構的重要性能指標，幾何誤差與受力變形誤差對其影響最大。運用多體運動學理論對機構幾何誤差進行數學建模，得出作用誤差的傳遞系數，按概率法建立各原始誤差與定位誤差的關系，運用公差等級相同原則對各誤差進行分配，滿足精度要求。運用ansys workbench軟件對搬運機構進行受力變形分析，得出受力變形引起的定位誤差；并分析工件與相應子機構在關鍵位置的相對位置誤差，為進一步提高工件在子機構間運動的平滑性提供依據。 為了驗證機構的強度、靜剛度與動剛度要求，運用ansys workbench軟件對機構整體進行了靜態(tài)與動態(tài)分析。將支架、輸送輥道、送料機構與主機構作為一個整體進行分析，對接料機構單獨分析，得出機構主要受力部件滿足強度要求；參照起重機標準對主機構、送料機構與接料機構進行了靜剛度校核，滿足剛度要求。對主體機構與送料機構進行了模態(tài)分析，都滿足動剛度要求，得出主體機構的薄弱環(huán)節(jié)為Z向移動滑塊支撐板，接料機構的薄弱環(huán)節(jié)為Y1向運動支撐件。
[Abstract]:Cutting off station of high pressure casting Weir is an important station in cylinder block blank production, and it is also a weak link in production. The handling mechanism is the special equipment of this station. The design of handling mechanism needs to meet the requirements of work and precision, improve the safety and reduce the operation cost. The design of the handling mechanism is carried out on the basis of the common material transportation forms in the workshop (mainly including manual type, transport vehicle type, lifting type, conveyor type and automatic handling form represented by industrial robot) and combined with the structural characteristics of the cylinder block. In order to better meet the functional and performance requirements, four design schemes are put forward from different angles: consignment type, right angle manipulator type, joint manipulator type and frame type. Through the comprehensive analysis of each scheme, it is concluded that each scheme can meet the functional requirements. From the security considerations and combined with the comprehensive performance index, the shipping type is selected as the final scheme. On the basis of the overall scheme, the system design of the carrier handling mechanism is carried out. From the point of view of function realization and key parts design, the concrete design of conveying roller table and support, feeding mechanism, main mechanism and receiving mechanism is completed. At the same time, topology optimization is used to guide the design of key parts. In order to reduce the labor intensity and improve the accuracy of workers, PLC is used for control. According to different conditions, manual control, semi-automatic control and automatic control are used respectively. Positioning accuracy is an important performance index of handling mechanism, and geometric error and deformation error have the greatest influence on it. The geometric error of the mechanism is modeled by using the theory of multi-body kinematics, and the transfer coefficient of the action error is obtained. the relationship between the original error and the positioning error is established according to the probability method, and the errors are allocated by using the principle of the same tolerance grade. Meet the accuracy requirements. The ansys workbench software is used to analyze the mechanical deformation of the handling mechanism, and the positioning error caused by the mechanical deformation is obtained. The relative position error between the workpiece and the corresponding submechanism in the key position is analyzed, which provides the basis for further improving the smoothness of the motion of the workpiece between the submechanisms. In order to verify the strength, static stiffness and dynamic stiffness requirements of the mechanism, the static and dynamic analysis of the mechanism as a whole is carried out by using ansys workbench software. The support, the conveying roller table, the feeding mechanism and the main mechanism are analyzed as a whole, and the receiving mechanism is analyzed separately, and it is concluded that the main stress parts of the mechanism meet the strength requirements. According to the crane standard, the static stiffness of the main mechanism, feeding mechanism and receiving mechanism is checked to meet the stiffness requirements. The modal analysis of the main mechanism and the feeding mechanism is carried out, which meets the requirements of dynamic stiffness. It is concluded that the weak link of the main mechanism is the Z-direction moving slider support plate, and the weak link of the receiving mechanism is Y1 moving support.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2012
【分類號】：TH248;TG23

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