高压铸造堰切断工位工件搬运机构设计与分析

发布时间：2019-05-12 08:20

【摘要】：高压铸造堰切断工位是气缸体毛坯生产的一个重要工位，同时也是生产的薄弱环节，搬运机构为该工位的专用设备。搬运机构的设计需要满足工作要求与精度要求，提高安全性，降低运行成本。以车间内常用物料输送形式（主要包括手动式、运输车式、起重式、输送机式和以工业机器人为代表的自动搬运形式）为依据并结合气缸体的结构特点来进行搬运机构的设计。为更好地满足功能与性能要求，，从不同角度提出四种设计方案：托运式、直角机械手式、关节机械手式与框架式。对各方案进行综合分析，得出各方案都能满足功能要求，从安全性考虑并结合综合性能指标，选择托运式作为最终方案。在总体方案的基础上对托运式搬运机构进行了系统设计。从功能实现与关键零件设计角度展开，完成了输送辊道与支架、送料机构、主机构和接料机构的具体设计。同时运用拓扑优化指导关键零件的设计。为了减轻工人劳动强度与提高精度，采用PLC进行控制，根据不同条件分别采用手动控制、半自动控制、自动控制三种控制方式。定位精度是搬运机构的重要性能指标，几何误差与受力变形误差对其影响最大。运用多体运动学理论对机构几何误差进行数学建模，得出作用误差的传递系数，按概率法建立各原始误差与定位误差的关系，运用公差等级相同原则对各误差进行分配，满足精度要求。运用ansys workbench软件对搬运机构进行受力变形分析，得出受力变形引起的定位误差；并分析工件与相应子机构在关键位置的相对位置误差，为进一步提高工件在子机构间运动的平滑性提供依据。为了验证机构的强度、静刚度与动刚度要求，运用ansys workbench软件对机构整体进行了静态与动态分析。将支架、输送辊道、送料机构与主机构作为一个整体进行分析，对接料机构单独分析，得出机构主要受力部件满足强度要求；参照起重机标准对主机构、送料机构与接料机构进行了静刚度校核，满足刚度要求。对主体机构与送料机构进行了模态分析，都满足动刚度要求，得出主体机构的薄弱环节为Z向移动滑块支撑板，接料机构的薄弱环节为Y1向运动支撑件。
[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.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH248;TG23

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