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無錫太湖學院
信 機 系 機械工程及自動化 專業(yè)
畢 業(yè) 設(shè) 計論 文 任 務(wù) 書
一、題目及專題：
1、題目 換刀機器人機械系統(tǒng)的設(shè)計
2、專題
二、課題來源及選題依據(jù)
（一）科學意義：
工業(yè)機器人延伸和擴大了人的手足和大腦功能，它可替代人從事危險、有害、有毒、低溫和高熱等惡劣環(huán)境中的工作；代替人完成繁重、單調(diào)的重復(fù)勞動，提高勞動生產(chǎn)率，保證產(chǎn)品質(zhì)量。工業(yè)機器人與數(shù)控加工中心、自動搬運小車以及自動檢測系統(tǒng)可組成柔性織造系統(tǒng)（FMS）和計算機集成制造系統(tǒng)（CIMS），實現(xiàn)生產(chǎn)自動化。
（二）國內(nèi)外研究概況、水平和發(fā)展趨勢：
從近幾年世界上推出的機器人產(chǎn)品來看，工業(yè)機器人技術(shù)正在向智能化、模塊化和系統(tǒng)化的方向發(fā)展。其發(fā)展趨勢為：結(jié)構(gòu)的模塊化和可重構(gòu)化；工作環(huán)境設(shè)計的優(yōu)化和作業(yè)的柔性化，以及網(wǎng)絡(luò)化和智能化等方面。
三、本設(shè)計（論文或其他）應(yīng)達到的要求：
任務(wù)要求：
（1）論證確定總體方案；
（2）設(shè)計水平移動系統(tǒng)、垂直升降系統(tǒng)和末端操作器的驅(qū)動及傳動系 統(tǒng)；
（3）設(shè)計水平移動系統(tǒng)、垂直升降系統(tǒng)和末端操作器的結(jié)構(gòu)；
（4）編寫設(shè)計說明書。
四、接受任務(wù)學生：
機械91 班 姓名 王維維
五、開始及完成日期：
自2012年11月7日 至2013年5月25日
六、設(shè)計（論文）指導(dǎo)（或顧問）：
指導(dǎo)教師 簽名
簽名
簽名
教研室主任
〔學科組組長研究所所長〕 簽名
系主任 簽名
2012年11月7日
編號
無錫太湖學院
畢業(yè)設(shè)計（論文）
相關(guān)資料
題目： 換刀機器人機械系統(tǒng)的設(shè)計
信機 系 機械工程及自動化專業(yè)
學 號： 0923006
學生姓名： 王維維
指導(dǎo)教師： 過金超 （職稱：副教授）
（職稱： ）
2013年5月25日
目 錄
一、畢業(yè)設(shè)計（論文）開題報告
二、畢業(yè)設(shè)計（論文）外文資料翻譯及原文
三、學生“畢業(yè)論文（論文）計劃、進度、檢查及落實表”
四、實習鑒定表
無錫太湖學院
畢業(yè)設(shè)計（論文）
開題報告
題目： 換刀機器人機械系統(tǒng)的設(shè)計
信機 系 機械工程及自動化專業(yè)
學 號： 0923006
學生姓名： 王維維
指導(dǎo)教師： 過金超 （職稱：副教授）
（職稱： ）
2013年5月25日
課題來源
實驗室課題。
科學依據(jù)（包括課題的科學意義；國內(nèi)外研究概況、水平和發(fā)展趨勢；應(yīng)用前景等）
（1）課題的科學意義
當今的世界，制造業(yè)在經(jīng)濟發(fā)展中占有十分重要的地位，機械制造業(yè)更加是制造業(yè)中的支柱與核心。
（2）國內(nèi)外研究概況、水平和發(fā)展趨勢
從近幾年世界上推出的機器人產(chǎn)品來看，工業(yè)機器人技術(shù)正在向智能化、模塊化和系統(tǒng)化的方向發(fā)展。其發(fā)展趨勢為：結(jié)構(gòu)的模塊化和可重構(gòu)化；工作環(huán)境設(shè)計的優(yōu)化和作業(yè)的柔性化，以及網(wǎng)絡(luò)化和智能化等方面。：
（3）應(yīng)用現(xiàn)狀及其前景
目前工業(yè)機械手主要用于機床加工、鑄造、熱處理等方面，無論數(shù)量、品種和性能方面還是不能滿足工業(yè)發(fā)展的需要。
在國內(nèi)主要是逐步擴大應(yīng)用范圍，重點發(fā)展鑄造、熱處理方面的機械手，以減輕勞動強度，改善作業(yè)條件，在應(yīng)用專用機械手的同時，相應(yīng)的發(fā)展通用機械手，有條件的還要研制示教式機械手、計算機控制機械手和組合機械手等。將機械手各運動構(gòu)件，如伸縮、擺動、升降、橫移、俯仰等機構(gòu)以及根據(jù)不同類型的加緊機構(gòu)，設(shè)計成典型的通用機構(gòu)，所以便根據(jù)不同的作業(yè)要求選擇不同類型的基加緊機構(gòu)，即可組成不同用途的機械手。既便于設(shè)計制造，有便于更換工件，擴大應(yīng)用范圍。同時要提高速度，減少沖擊，正確定位，以便更好的發(fā)揮機械手的作用。
研究內(nèi)容
自動換刀機器人的機械系統(tǒng),結(jié)構(gòu)，機構(gòu)，受力，驅(qū)動形式，傳動系統(tǒng)。
擬采取的研究方法、技術(shù)路線、實驗方案及可行性分析
（1）實驗方案
通過對目前最常用的幾種數(shù)控車床自動換刀系統(tǒng)的研究，對所研究的數(shù)控機床提出幾個最為可行的工作系統(tǒng)，通過對方案的論證分析，選擇最為理想的完成整個設(shè)計。對整個換刀裝置，各組成機構(gòu)，及各個自由度的實現(xiàn)進行分析。對換刀機械手的手指夾緊力進行分析，計算，對系統(tǒng)的關(guān)鍵部位進行校核，以確保換刀可靠性。對整個設(shè)計中涉及到的液壓缸，計算確定其各個部分結(jié)構(gòu)的具體尺寸，同時對活塞桿的強度，穩(wěn)定性及螺栓的強度進行校核，以確保整個系統(tǒng)工作狀態(tài)的準確可靠。
（2）研究方法
選擇最合理的換刀系統(tǒng)，通過比較，計算，設(shè)計出關(guān)鍵零件，結(jié)合前人的換刀系統(tǒng)設(shè)計出整個換刀裝置，系統(tǒng)。
研究計劃及預(yù)期成果
研究計劃：
2012年11月12日-2012年12月2日：教師下達畢業(yè)設(shè)計任務(wù)，學生初步閱讀資料，完成畢業(yè)設(shè)計開題報告。
2013年1月21日-2013年3月1日：指導(dǎo)畢業(yè)實習。
2013年3月4日-2013年3月15日：確定總設(shè)計方案。
2013年3月18日-2013年3月22日：總體設(shè)計（包括參數(shù)計算及結(jié)構(gòu)分析計算）。
2013年3月25日-2013年4月5日：總體設(shè)計（完成參數(shù)計算及結(jié)構(gòu)分析計算后繪制草圖：裝配圖）。
2013年4月8日-2013年4月26日：零件設(shè)計。
2013年4月29日-2013年5月20日：畢業(yè)論文說明書撰寫和修改工作。
預(yù)期成果：
跟緊老師的腳步，認真的完成每一步設(shè)計，完善整個機械手的設(shè)計，熟悉掌握整個系統(tǒng)的原理。在學業(yè)將要完成之時，我將大幅提高我的機械研究能力，將會成為一名優(yōu)秀的機械技術(shù)工作者。
特色或創(chuàng)新之處
快速，精確，大容量，的換刀系統(tǒng)。兼容隨機刀具定位和固定刀具定位到位達到±
0．05mm。
已具備的條件和尚需解決的問題
我已學習數(shù)控專業(yè)三年之久，掌握了一些這專業(yè)的部分知識，老師也給了一些參照資料，可以進行這方面的研究。
尚需解決的問題：
（1）設(shè)計水平移動系統(tǒng)、垂直升降系統(tǒng)和末端操作器的驅(qū)動及傳動系統(tǒng)；
（2）設(shè)計水平移動系統(tǒng)、垂直升降系統(tǒng)和末端操作器的結(jié)構(gòu)；
（3）自動換刀機械手的升降機構(gòu)的繪圖
（4）裝卸刀手手臂和手部結(jié)構(gòu)的設(shè)計
指導(dǎo)教師意見
指導(dǎo)教師簽名：
年 月 日
教研室（學科組、研究所）意見
教研室主任簽名：
年 月 日
系意見
主管領(lǐng)導(dǎo)簽名：
年 月 日
英文原文
On the NC lathe and tool changing system
CNC machine tool numerical control machine tools (Computer numerical control machine tools) abbreviation, is provided with a program control system of automatic machine tools. The logic control system can deal with the control code or other symbolic instruction specified program, and decoding the digital code, said information carrier, through the numerical control device input. After processing by CNC device control signals, control the machine movements, by drawing the shape and size requirements, will be automatically processed by the parts.
Features: CNC machine tool operation and monitoring of all completed in the numerical control unit, it is the brain of CNC machine tools. Compared with the general machine tools, CNC machine tools has the following characteristics:
● the processing object adaptability, adapt to the characteristics of mold products such as a single production, provide the appropriate processing method for die and mould manufacturing;
● high machining accuracy, processing with stable quality;
● can coordinate linkage, processing complex shape parts;
● machining parts change, only need to change the program, can save the preparation time of production;
● the machine itself high precision, rigidity, can choose the amount of processing good, high productivity (typically 3 to 5 times that of ordinary machine tool);
The machine is a high degree of automation, reducing labor intensity;
● conducive to the production management modernization. The use of CNC machine tools and the standard code of digital information processing, information transmission, the use of computer control method, has laid the foundation for the integration of computer aided design, manufacturing and management;
● on the operators of higher quality, higher demands for the repair of the technical staff;
● high reliability.
Composition: CNC machine tools in general by the input medium, man-machine interactive equipment, CNC equipment, feed servo drive system, spindle servo drive system, the auxiliary control device, feedback apparatus and adaptive control device etc.. [4] in NC machining, NC milling processing is the most complex, need to solve most problems. NC programming of NC line in addition to CNC milling, cutting, CNC EDM, CNC lathe, CNC grinding, each with its own characteristics, servo system is the role of the motion signal is converted into the machine moving parts from the numerical control device of pulse. Concrete has the following parts: the structure of CNC machine tools.
Driver: he is driving parts of CNC machine tools, actuator, including spindle drive unit, feeding unit, spindle motor and feed motor. He through the electric or electro-hydraulic servo system to realize the spindle and feed drive under the control of numerical control device. When several feed linkage, can complete the positioning, processing line, plane curve and space curve.
The main performance
(1) the main dimensions.
(2) the spindle system.
(3) feed system.
(4) tool system.
(5) electrical. Including the main motor, servo motor specifications and power etc..
(6) cooling system. Including the cooling capacity, cooling pump output.
(7) dimensions. Expressed as length * width * height.
Development trend of CNC lathe:
High speed, precision, complex, intelligent and green is the general trend in the development of CNC machine tool technology, in recent years, made gratifying achievements in practicality and industrialization. Mainly in the:
1 machine tool composite technology to further expand with the CNC machine tool technology, composite processing technology matures, including milling - car compound, car milling compound, car - boring - drill - gear cutting compound, composite grinding, forming, composite processing, precision and efficiency of machining is greatly improved. "One machine is a processing factory", "one card, complete processing" concept is being accepted by more people, the development of compound processing machine tool is the trend of diversified.
Intelligent technology 2 CNC machine tools have a new breakthrough, in the performance of NC system has been reflected more. Such as: automatically adjust the interference anti-collision function, after the power of workpiece automatically exit safety power-off protection function, machining parts detection and automatic compensation function of learning, high precision machining parts intelligent parameter selection function, process automatic elimination of machine vibration functions into the practical stage, intelligent upgrade the function of machine and quality.
The 3 robots enable flexible combination of flexible combination of higher efficiency of robot and the host are widely used, make flexible line more flexible, extending the function, flexible line shorten further, more efficient. Robot and machining center, milling composite machine, grinder, gear processing machine tool, tool grinding machine, electric machine, sawing machine, punching machine, laser cutting machine, water cutting machine etc. various forms of flexible unit and flexible production line has already begun the application.
4 precision machining technology has the machining precision of CNC metal cutting machine tools from the yarn in the original (0.01mm) up to micron level (0.001mm), some varieties has reached about 0.05 μ M. Micro cutting and grinding machining of ultra precision CNC machine tools, precision can reach about 0.05 μ m, shape precision can reach about 0.01 μ M. Special processing precision by using optical, electrical, chemical, energy can reach nanometer level (0.001 μ m). By optimizing the design of machine tool structure, machine tool parts of ultra precision machining and precision assembly, using high precision closed loop control and temperature, vibration and other dynamic error compensation technology, improve the geometric accuracy of machine tool processing, reduce the shape of error, surface roughness, and into the submicron, nano super finishing ti
The 5 functional component to improve the performance of functional components are at a high speed, high precision, high power and intelligent direction, and obtain the mature application. A full digital AC servo motor and drive device, high technology content of the electric spindle, linear motor, torque motor, linear motion components with high performance, application of high precision spindle unit and other function parts, greatly improving the technical level of CNC machine tools.
The feed drive system of CNC lathe:
Effect of feed drive system,
The feed drive system of CNC machine tools will be received pulse command issued by the numerical control system, and the amplification and conversion machine movements carry the expected movement.
Two, the feeding transmission system requirements
In order to guarantee the machining accuracy of NC machine tool is high, the feed drive system of transmission accuracy, sensitivity high (fast response), stable work, high stiffness and friction and inertia small, service life, and can remove the transmission gap.
Category three, feed drive system
1, stepping motor servo system
Generally used for NC machine tools.
2, DC servo motor servo system
Power is stable, but because of the brush, the wear resulting in use need to change. Generally used for middle-grade CNC machine tools.
3, AC servo motor servo system
The application is extremely widespread, mainly used in high-end CNC machine tools.
4, the linear motor servo system
No intermediate transmission chain, high precision, the feed speed, no length limit; but the poor heat dissipation, protection requirements are particularly high, mainly used for high-speed machine.
Driving component four, feed system
1, the ball screw nut pair
NC machining, the rotary motion into linear motion, so the use of screw nut transmission mechanism. NC machine tools are commonly used on the ball screw, as shown in Figure 1-25, it can be a sliding friction into rolling friction, meet the basic requirements of the feed system to reduce friction. The transmission side of high efficiency, small friction, and can eliminate the gap, no reverse air travel; but the manufacturing cost is high, can not lock, size is not too big, generally used for linear feed in small CNC machine tool.
2, rotary table
In order to expand the scope of the process of NC machine tools, CNC machine tools in addition to make linear feed along the X, Y, Z three coordinate axes, often also need a circumferential feed movement around Y or Z axis. Circular feed motion of CNC machine tools in general by the rotary table to realize, for machining center, rotary table has become an indispensable part of.
Rotary table of commonly used CNC machine tools in the indexing table and NC rotary table.
(1) indexing table
Indexing table can only finish dividing movement, not circular feed, it is in accordance with the instructions in the NC system, when indexing will work together with the workpiece rotation angle. When indexing can also use manual indexing. Provisions of indexing table is generally only rotary angle (such as 90, 60 and 45 degree).
(2) NC rotary table
NC rotary table appearance similar to the indexing table, but the internal structure and function is not the same. The main function of the NC rotary table is based on the numerical control device sends command pulse signal, complete circumferential feed movement, various arc processing and surface processing, it can also be graduation work.
3, guide
Rail is an important part of feed drive system, is one of the basic elements of the structure of machine tool, rigidity, precision and accuracy of NC machine tool which determines to a large extent retention. At present, guide the NC machine tool are sliding rail, rolling guideway and hydrostatic guideway.
(1) sliding guide
Sliding guide rail has the advantages of simple structure, easy manufacture, good stiffness, vibration resistance and high performance, widely used in CNC machine tools, the use of most metal plastic form, known as the plastic guide rail, as shown in figure 1-26.
On characteristics of the plastic sliding guide: friction characteristic is good, good wear resistance, stable movement, good manufacturability, low speed.
(2) rolling guide
Rolling guide is placed in the rail surface between the ball, roller or needle roller, roller, the rolling friction instead of sliding surface of the guide rail between wipe.
Rolling guide rail and the sliding rail, high sensitivity, small friction coefficient, and the dynamic, static friction coefficient is very small, so the motion is uniform, especially in the low speed movement, the stick-slip phenomenon is not easy to occur; high positioning accuracy, repeatability positioning accuracy is up to 0.2 μ m; traction force is small, wear small, portable in movement; good precision, long service life. But the vibration of rolling guide, high requirements on protection, complicated structure, difficult manufacture, high cost
Automatic tool changer:
One, the function of automatic tool changer
Automatic tool changing device can help save the auxiliary time of CNC machine tools, and meet in an installation completed procedure, step processing requirements.
Two, on the requirement of automatic tool changer
Numerical control machine tool for automatic tool changer requirement is: tool change quickly, time is short, high repetitive positioning accuracy, tool storage capacity is sufficient, small occupation space, stable and reliable work.
Three, change the knife form
1, rotary cutter replacement
Its structure is similar to the ordinary lathe turret saddle, according to the processing of different objects can be designed into square or six angle form, consists of the NC system sends out the instruction to the rotary cutter.
2, the replacement of the spindle head tool change
The spindle head pre-loaded required tools, in order to machining position, the main motor is switched on, drives the cutter to rotate. The advantage of this method is that eliminates the need for automatic clamping, cutting tool, clamping and cutting tool moving and a series of complex operation, reduce tool change time, improve the reliability of the tool change.
3, the use of changing tool
The processing required tools are respectively arranged in the standard tool, adjust the size of the machine after certain way add to the knife, the exchange device from the knife and the spindle take knife switch.
Four, the tool switching device
Automatic tool change device, device for knife library and the main shaft transmission and handling tool for tool exchange device. Tool exchange often have two kinds: mechanical hand tool exchange and by relative motion of knife and machine tool spindle exchange tool (cutter to the spindle tool change or movement of the spindle to the knife knife tool change position), the mechanical hand tool change is most common.
Five, the knife
The knife is one of the most important parts in automatic tool changer, have great influence on the overall design of NC machine tool and its capacity, layout and structure.
1, the capacity of the tool storage
A number of knife inventory cutters, generally depending on the processing requirements. The capacity of small knife, can not meet the processing needs; capacity is too large, will make the knife database size, covers an area of large, tool selection process for a long time, and the knife library utilization rate is low, the structure is too complex, causing great waste.
2, the knife type
Generally, the chain disc and drum type knife several.
Disc cutter tool was circular arrangement, low utilization of space, size is not large but simple structure.
Chain magazine compact structure, large capacity, link shape can also be random bed made of various forms and flexible layout, but also will change the cutter location prominent for tool change, widely used.
Drum type or lattice type knife, covers an area of small, compact structure, large capacity, but cutter selection, tool movements are complicated, for centralized knife system for FMS.
3, tool selection
Often order tool selection and random selection tool two.
The order of tool selection is before processing, the processing required tools to process sequence of insert knife knife, order not wrong, processing adjust knife in order. The work piece changes, the need to reset the tool sequence, the operation is simple, and the processing tool with a workpiece can not be repeated use.
A knife is the cutting tool has its own code, optional and can be repeatedly used in processing, also do not put in the fixed knife, knife, the knife is convenient.
Technology file is the guiding file workers during processing, process scheme is reasonable, not only affect the efficiency of NC machining, and will directly affect the machining quality. Therefore, before NC programming, NC machining process follows the process of certain principles and combined with the characteristics of CNC lathe seriously and develop in detail the good parts.
In the CNC lathe processing parts, should according to the principle of dividing process concentrated, in a fixture as far as possible to complete the most or even all of the surface processing. Part positioning, according to the structure of different shapes, usually cylindrical, face or end clamping, and strive to design basis, process reference and programming the unification datum.
The main contents are: analysis of NC machining technology of part drawings, clear processing content; determination method, workpiece on lathe the surface processing sequence and tool feed line and cutting tools, fixtures and cutting the amount of choice.
Analysis, part drawing process
In the machining process planning of parts, first of all to carry on in-depth analysis to the processing object. For NC turning process should consider the following aspects:
1 reading part drawing, analysis of geometric conditions of part contour
In turning process of manual programming, to calculate each node coordinates; in automatic programming, to define the components outline all geometric elements. Therefore, in the analysis of parts should pay attention to:
Parts of the map is missing a dimension, the geometric conditions are not sufficient to constitute the part outline, influence;
Map location map parts of the ambiguity or dimension is not clear, so that the program can't start;
The part drawing geometry given is not reasonable, resulting in mathematical difficulties.
The part drawing dimensioning methods should adapt to the characteristics of CNC lathe processing, should size or directly given coordinate dimension with the same standard.
2 dimensional accuracy requirements
Analysis of the pattern of parts size precision requirements, to determine whether achieve the turning process, and determine the process method to control the dimension precision. In the analysis process, but also can convert some dimensions such as size, incremental and absolute size and dimension chain calculation. In the use of NC lathe turning parts, average value of components often required size and maximum and minimum limit of size size as the basis of programming.
3 shape and position accuracy requirements
Pattern of parts tolerance of shape and lo