小型重物提升機(jī)驅(qū)動(dòng)系統(tǒng)的設(shè)計(jì)
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畢業(yè)設(shè)計(jì)(論文)任務(wù)書(shū)機(jī)械設(shè)計(jì)制造及其自動(dòng)化專業(yè)1102班學(xué)生:陳 洋畢業(yè)設(shè)計(jì)(論文)題目: 小型重物提升機(jī)的設(shè)計(jì)畢業(yè)設(shè)計(jì)(論文)內(nèi)容:1.設(shè)計(jì)說(shuō)明書(shū)一份統(tǒng)一用A4紙,標(biāo)準(zhǔn)格式,正文不少于20頁(yè)(含中英文摘要);2. CAD圖紙一套(包括總裝圖、零件圖);畢業(yè)設(shè)計(jì)(論文)專題部分: 提升機(jī)的設(shè)計(jì),減速器的設(shè)計(jì).起止時(shí)間: 2014年12月10日至 2015年6月4日指導(dǎo)教師: 2014 年12月10日 沈 陽(yáng) 化 工 大 學(xué) 科 亞 學(xué) 院本科畢業(yè)論文 題 目: 小型重物提升機(jī)的設(shè)計(jì) 專 業(yè): 機(jī)械設(shè)計(jì)制造及其自動(dòng)化 班 級(jí): 1102 學(xué)生姓名: 陳洋 指導(dǎo)教師: 侯志敏 論文提交日期: 2015年 6 月 1日論文答辯日期: 2015年 6 月 4日摘要 在當(dāng)代生活中,我們生活中的每個(gè)角落充滿著各式各樣的機(jī)器。很多不同的領(lǐng)域都需要用性能不同的的起重運(yùn)輸機(jī)械,進(jìn)行運(yùn)輸、分配和輸送等生產(chǎn)作業(yè)任務(wù),起重機(jī)械設(shè)計(jì)很廣隨處都能見(jiàn)到。例如一個(gè)大型的生產(chǎn)工作廠,沒(méi)有現(xiàn)代化,有效率,安全度高的設(shè)備,是無(wú)法進(jìn)行工作生產(chǎn)的。所以說(shuō)起重機(jī)在現(xiàn)實(shí)生活中的作用,早已經(jīng)超過(guò)了它本身的對(duì)人類的輔助作用,因此起重機(jī)已經(jīng)廣泛的應(yīng)用在生產(chǎn)工藝中,是生產(chǎn)工作中必不可缺少的重要機(jī)械。 我們運(yùn)用機(jī)械原理、機(jī)械制造技術(shù)和制圖等知識(shí)研究設(shè)計(jì)這次的小型重物提升機(jī)。設(shè)計(jì)這種小型重物提升機(jī)是一般工作在室內(nèi)。它的動(dòng)力主要是電動(dòng)機(jī)和通過(guò)齒輪傳還有行星機(jī)傳動(dòng)傳遞動(dòng)力等技術(shù)進(jìn)行完成。小型重物提升機(jī)設(shè)計(jì)中關(guān)鍵的部分是減速器的設(shè)計(jì)要合理,設(shè)計(jì)包括:動(dòng)力傳動(dòng)裝置、執(zhí)行元件、控制系統(tǒng)部分的設(shè)計(jì)以及對(duì)機(jī)械進(jìn)行保護(hù)和密封等。 本次設(shè)計(jì)的目的主要要求解決生產(chǎn)中的實(shí)際問(wèn)題,不僅要求掌握專業(yè)知識(shí)足夠多,還要鍛煉獨(dú)立解決問(wèn)題的能力,提高查閱設(shè)計(jì)手冊(cè)的能力,了解相關(guān)尺寸的國(guó)家標(biāo)準(zhǔn)和國(guó)際標(biāo)準(zhǔn),熟練的使用CAD/UG繪制工程圖。讓我們?cè)趯?shí)際工作中熟練的進(jìn)行繪制,讓我們的設(shè)計(jì)更具實(shí)用性,易操性。這次的設(shè)計(jì)題目還讓我們更多的接觸社會(huì)。了解社會(huì)的發(fā)展趨向和國(guó)內(nèi)外自動(dòng)化時(shí)代的現(xiàn)狀,為自己以后的發(fā)展方向做好鋪墊。運(yùn)用綜合所學(xué)的知識(shí),在老師的指導(dǎo)下解決設(shè)計(jì)中遇到的問(wèn)題,培養(yǎng)學(xué)生理論聯(lián)系實(shí)際的能力、把握良好的設(shè)計(jì)思想和工作作風(fēng)。因此在設(shè)計(jì)小型重物提升機(jī)時(shí),我們不僅要對(duì)機(jī)械的性能和能力保障,而且對(duì)其安全性的考慮更要謹(jǐn)慎考慮。在這次設(shè)計(jì)中,我認(rèn)真的學(xué)習(xí)了參考文獻(xiàn)和一些相關(guān)的機(jī)械知識(shí)并且實(shí)地進(jìn)行了參考并詢問(wèn)老師進(jìn)行問(wèn)題的解決,還進(jìn)行了自己操作并且了解工件的加工工藝的難易度,并上網(wǎng)進(jìn)行了查找資料等工作在學(xué)校請(qǐng)教老師,因此對(duì)于小型重物提升機(jī)的設(shè)計(jì)進(jìn)行了優(yōu)化和改良。關(guān)鍵詞: 減速器; 傳動(dòng)系統(tǒng); 執(zhí)行元件;Abstract In the present life, various machines have been widely used in every aspect of our life.More and more areas need to use a variety of lifting transport machinery, running, distribution and transportation and other production tasks, crane design is widely everywhere can see. For example, a large production factory, there is no modern, efficient, safe equipment, is unable to work production. So that the role of crane in real life, already more than itself to human supporting role, so the crane has been widely used in the production process is production work in the indispensable important mechanical. This design principle is the application of mechanical principle, mechanical manufacturing technology and graphics and other knowledge research design a small weight lifting machine. The design of this small weight lifting machine is generally working indoors. Its power is mainly motor and transmission through the transmission of the planetary gear transmission and other technology through the transmission of the motor and other technologies. Small weight lifting machine design and the key part of the deceleration device design to be reasonable, the design includes: power transmission system, the implementation of components, control part of the design and the mechanical lubrication and seal etc. Drawing purpose of the design of the main requirements to solve practical problems in production, not only required to master professional knowledge enough, we must exercise independent problem solving ability, improve access to the ability to design manual, understanding related to the size of the national standards and international standards, skilled use of CAD /UG of engineering drawing. Let us in the actual work of the skilled draw, so that our design more practical, easy to operate. The design also makes us more contact with society. Understand the social development trend and the status quo of the era of domestic and foreign automation, paving the way for their future development direction.Using the knowledge of integrated knowledge, the problem in the design is solved under the guidance of the teacher, and the ability of cultivating students theory, the design idea and the style of work are grasped.So when we design a small weight lifting machine, we must not only protect the mechanical performance and capacity, but also consider the safety of its security considerations. In this design, I seriously learning the references and some related knowledge of machinery and conducted a field reference and asked the teacher problem solving, their operations and to understand the parts of the processing difficulty, and the Internet are seeking information consult the teacher at school, so for small weight lifting machine design has been optimized and improved.Key words: Gear reducer; Drive system;Execution element;目 錄 引言. 1 第一章動(dòng)力系統(tǒng)設(shè)計(jì) . 2 1.1 設(shè)計(jì)方案的確定 . 2 1.1.1 設(shè)計(jì)參數(shù). 2 1.1.2 設(shè)計(jì)方案的確定. 2 1.2 電機(jī)的選擇 . 3 1.2.1 初選電動(dòng)機(jī)類型和結(jié)構(gòu)型式. 3 1.2.2 電動(dòng)機(jī)的容量 . 4 第二章提升機(jī)傳動(dòng)系統(tǒng)設(shè)計(jì) . 7 2.1傳動(dòng)裝置的傳動(dòng)比及動(dòng)力參數(shù)計(jì)算 .7 2.1.1總傳動(dòng)比及滾筒初定 . 7 2.1.2傳動(dòng)分配各級(jí)傳動(dòng)比的計(jì)算 . 7 2.2電動(dòng)機(jī)軸齒輪的設(shè)計(jì).9 2.2.1 初步選定齒輪參數(shù) . .9 2.2.2 確定軸齒輪中心距a.9 2.2.3 幾何尺寸的計(jì)算 . 10 2.3 內(nèi)齒輪的設(shè)計(jì) . 11 2.3.1 按齒輪齒面接觸疲勞計(jì)算. 11 2.4行星齒輪的設(shè)計(jì) . 12 2.4.1按齒面接觸疲勞計(jì)算 . 12 2.5 軸的結(jié)構(gòu)設(shè)計(jì) . 12 2.5.1 軸的結(jié)構(gòu)設(shè)計(jì)原則 . 12 2.5.2 軸承的選擇 . 13 2.5.3 軸II軸的設(shè)計(jì) . 13 2.5.4 軸的設(shè)計(jì)、計(jì)算及軸承的確定 . 14 2.6 軸II軸的強(qiáng)度校核 . 15 2.6.1 軸II的強(qiáng)度校核. 15 第三章行星架的設(shè)計(jì). 19 第四章提升機(jī)執(zhí)行機(jī)構(gòu)的設(shè)計(jì). 20 4.1卷筒的選擇 . 20 4.1.1 卷筒的主要尺寸 . 20 4.2吊鉤的設(shè)計(jì) . 22 4.2.1吊鉤的材料 . 22 4.2.2吊鉤的構(gòu)造. 23 第五章制動(dòng)器的設(shè)計(jì). 24 5.1.1 制動(dòng)器的選用. 24 5.1.2 帶式制動(dòng)器的計(jì)算. 24 第六章減速器的潤(rùn)滑和密封. 30 結(jié) 論 . 31 參考文獻(xiàn) . 32 致 謝 . 33沈陽(yáng)化工大學(xué)科亞學(xué)院學(xué)士學(xué)位論文 引言 引言 大學(xué)即將結(jié)束畢業(yè)設(shè)計(jì)是大學(xué)課程中最后一門(mén)課也是對(duì)大學(xué)所學(xué)的知識(shí)的檢驗(yàn)與應(yīng)用,是一次很好的機(jī)會(huì)。在設(shè)計(jì)畢業(yè)設(shè)計(jì)中,畢業(yè)設(shè)計(jì)是對(duì)所學(xué)知識(shí)和現(xiàn)實(shí)應(yīng)用能力的考察,是學(xué)問(wèn)與實(shí)踐的應(yīng)用。畢業(yè)設(shè)計(jì),學(xué)生利用綜合運(yùn)用所學(xué)知識(shí)解決實(shí)際問(wèn)題,提高他們的技術(shù)水平,業(yè)務(wù)能力,識(shí)圖,繪圖和查閱手冊(cè),使用國(guó)家標(biāo)準(zhǔn),以及考察寫(xiě)作能力和組織管理能力的能力。實(shí)現(xiàn)了能在以后的工作的基礎(chǔ),具有十分重要的意義。本次的任務(wù)是設(shè)計(jì)一個(gè)小型重物提升機(jī)一般工作在室內(nèi)。由于到小型重物提升機(jī)主要工作部分是減速器,它在機(jī)器工作對(duì)升降的工作起到了十分重要的作用。在保證機(jī)器正常工作的同時(shí)還需要對(duì)機(jī)器的安全性上需要考慮。為了更好的進(jìn)行設(shè)計(jì),我做了很多這方面的工作對(duì)各各零件進(jìn)行了選擇。我國(guó)的提升機(jī)開(kāi)始于本世紀(jì)五十年代,提升機(jī)元件生產(chǎn)已經(jīng)走向成熟,并在各種機(jī)械設(shè)備上得到了廣泛的使用?,F(xiàn)代的提升機(jī)系統(tǒng)具設(shè)計(jì)合理,性能穩(wěn)定,效率高,使用維修簡(jiǎn)單并且更加安全。小型重物提升機(jī)結(jié)構(gòu)簡(jiǎn)單,安全,穩(wěn)定,維修方便。不同的提升機(jī),雖然在不同領(lǐng)域有不同的用處但是原理不近相同。滾筒的選擇是對(duì)小型重物提升機(jī)性能好壞的抉擇,電動(dòng)機(jī)功率的要求,還有減速器是否合理。對(duì)于這種設(shè)計(jì),我積極與同學(xué)討論并通過(guò)相互交換意見(jiàn)進(jìn)行改善,最終我有了自己設(shè)計(jì)的思路,根據(jù)設(shè)計(jì)所需,小型重物提升機(jī)中主要針對(duì)是對(duì)減速器的結(jié)構(gòu),尺寸,運(yùn)動(dòng)參數(shù)以及潤(rùn)滑密封,我進(jìn)行了對(duì)這幾方面的計(jì)算最終確定所選的型號(hào)和尺寸。在合理運(yùn)用知識(shí)的同時(shí),我還對(duì)提升機(jī)的安全性能和節(jié)能性能方面進(jìn)行了考慮和計(jì)算為了更好的完成任務(wù)。為了讓使設(shè)計(jì)簡(jiǎn)潔清晰,我在有些地方添加了圖片并進(jìn)行解釋說(shuō)明。32沈陽(yáng)化工大學(xué)科亞學(xué)院學(xué)士學(xué)位論文 第一章 提升機(jī)動(dòng)力系統(tǒng)設(shè)計(jì) 第一章提升機(jī)動(dòng)力系統(tǒng)設(shè)計(jì)1.1 設(shè)計(jì)方案的確定1.1.1 設(shè)計(jì)參數(shù): 提起或落下一定質(zhì)量的重物。 提升線速度約為12m/min。 (3) 提升質(zhì)量約為500kg。 采用一級(jí)變速。 所選電動(dòng)機(jī)轉(zhuǎn)速約為8501000r/min。 制造條件:選擇合適的減速機(jī)構(gòu),生產(chǎn)零件簡(jiǎn)單。1.1.2 設(shè)計(jì)方案的確定 在設(shè)計(jì)時(shí),我們?cè)O(shè)計(jì)原動(dòng)機(jī)和工作機(jī)之間夾雜著減速器,我們用減速齒輪進(jìn)行完成。方案一:運(yùn)用蝸桿減速器。蝸桿減速器,還有運(yùn)用不同軸。這種方案的特點(diǎn)是構(gòu)造簡(jiǎn)單,體積大。(見(jiàn)圖1.1) 圖1.1 方案一圖 方案二:用行星輪、內(nèi)齒輪與外齒輪結(jié)合傳遞運(yùn)動(dòng)和傳力。行星輪與內(nèi)外齒輪相配合。這種方案的優(yōu)點(diǎn)是: 效率高 工作可靠,使用壽命長(zhǎng) 結(jié)構(gòu)緊湊 傳動(dòng)比穩(wěn)定。(見(jiàn)圖1.2) 圖1.2 方案二圖1.2 電機(jī)的選擇1.2.1 電動(dòng)機(jī)類型與結(jié)構(gòu)型式電動(dòng)機(jī)的選擇十分主要,通過(guò)我們了解對(duì)提升機(jī)的工作特點(diǎn)、我們選擇電源種類(交流或直流)要確定、對(duì)于工作機(jī)的工作環(huán)境進(jìn)行刪選、對(duì)最大荷載量和荷載性質(zhì)、起動(dòng)性能和起動(dòng)、制動(dòng)、正反轉(zhuǎn)的程度多方面考慮來(lái)選擇電動(dòng)機(jī)的類型,大小,容量(功率)和旋轉(zhuǎn)速度,選取自己想要的型號(hào)。 電動(dòng)機(jī)有直流電動(dòng)機(jī)和交流電動(dòng)機(jī)。由于生產(chǎn)單位一般多采用交流電源,因此,我們選用三相交流電動(dòng)機(jī)。 Y系列三相籠型異步電動(dòng)機(jī),由于體形小,價(jià)格便宜,維修方便等特點(diǎn)。因此它被應(yīng)用于無(wú)特、殊要求的機(jī)械上,經(jīng)常起動(dòng)和制動(dòng)正反轉(zhuǎn)的機(jī)械設(shè)備,我們選擇電動(dòng)機(jī)應(yīng)具有較小的轉(zhuǎn)動(dòng)慣量還有足夠大的過(guò)載量,因此我們用三相異步電動(dòng)機(jī)Yz型(籠型) 電動(dòng)機(jī)容量選擇的合理性直接影響電動(dòng)機(jī)工作能力和壽命。因此選擇的時(shí)候不能太大也不能太小,對(duì)于所選擇的電動(dòng)機(jī)要求跟實(shí)際應(yīng)用的方面有關(guān)系。 因此我選用:Y系列籠型三相異步交流電機(jī)。1.2.2 電動(dòng)機(jī)的容量 確定提升機(jī)所需的功率 由滾筒圓周力和滾筒速度v,得 P= F=G=mg(N) m,提升重量 m=500kg, F=5009.8=4900 N F=4900N V=12/60=0.2m/s 帶入數(shù)據(jù)得 P=49000.21000=0.98 KW 確定傳動(dòng)裝置效率 傳動(dòng)裝置的效率由以下的要求:(1) 軸承的效僅是對(duì)一對(duì)軸承。 (2) 如果傳動(dòng)副或運(yùn)動(dòng)副類型一樣,我們應(yīng)考慮它的效率。 (3) 傳動(dòng)的效率與軸承的選擇有關(guān)。因此各傳動(dòng)機(jī)構(gòu)和軸承的效率為: 設(shè)計(jì)中,電動(dòng)機(jī)與減速器相連的部件,等于一個(gè)凸緣聯(lián)軸器 I軸的傳動(dòng)效率: II軸軸承傳動(dòng)效率: 工作中傳動(dòng)的總效率 故傳動(dòng)裝置總效率: , 電動(dòng)機(jī)的輸出功率 電動(dòng)機(jī)輸出功率; P/ 則, P/=1.417KW 查資料P取1.5KW (3)電動(dòng)機(jī)的技術(shù)數(shù)據(jù) 經(jīng)過(guò)考慮我們選定額定功率電動(dòng)機(jī),同步轉(zhuǎn)速為1000,6級(jí)。查簡(jiǎn) 明機(jī)械設(shè)計(jì)手冊(cè),我們選用Y100L6三相異步電動(dòng)機(jī),其主要參數(shù)如下:電動(dòng)機(jī)額定功率:P0=1.5kw; P0=1.5kw電動(dòng)機(jī)滿載轉(zhuǎn)速:n=940r/min n=940r/min 電 流 : I=5.6A I=5.6A電動(dòng)機(jī)外形和安裝尺寸為: D=28mm D=28mm E=60mm E=60mm H=100mm H=100mm A=160mm A=160mm B=140mm B=140mm C=63mm C=63mm K=12mm K=12mm AB=205mm AB=205mm AD=180mm AD=180mm AC=105mm AC=105mm HD=245mm HD=245mm AA=40mm AA=40mm BB=176mm BB=176mm沈陽(yáng)化工大學(xué)科亞學(xué)院學(xué)士學(xué)位論文 第二章 提升機(jī)傳動(dòng)系統(tǒng)的設(shè)計(jì) 第二章提升機(jī)傳動(dòng)系統(tǒng)的設(shè)計(jì)2.1 傳動(dòng)裝置的傳動(dòng)比與動(dòng)力參數(shù)的計(jì)算2.1.1 總傳動(dòng)比及滾筒初定由于選定轉(zhuǎn)速比為:i50/1 所以滾筒轉(zhuǎn)速 940/50=18.8 從而,滾筒直徑: D=203.28 mm, (2-1)圓整為205 mm 2.1.2 傳動(dòng)分配各級(jí)傳動(dòng)比的計(jì)算 (1) 總傳動(dòng)比,分配各級(jí)傳動(dòng)比1 總傳動(dòng)比 I=50 2 分配各級(jí)傳動(dòng)比 取 i1=9.45, i2=i1/i2/50/9.45=5.29 (2) 計(jì)算傳動(dòng)裝置的運(yùn)動(dòng)及動(dòng)力參數(shù) 1 各軸功率計(jì)算 P1=KW (2-2)P2=1.470.7=1.029KW (2-3)P3 = =KW (2-4) 2 各軸轉(zhuǎn)速的計(jì)算 n940, n2940/ 9.45=99.47 n318.80 3 各軸輸入扭矩的計(jì)算 =14.93Nmm =492.74Nmm各參數(shù)列表: 表2-1參 數(shù)軸 名電動(dòng)機(jī)III軸滾筒軸(III)轉(zhuǎn)速n(r/min)94094099.4718.8功率P/kw1.51.51.0290.97轉(zhuǎn)矩(N.m)14.9314.93392.7492.72傳動(dòng)比i9.035.451效率0.980.70.98 2.2 電動(dòng)機(jī)軸齒輪的設(shè)計(jì) 齒輪傳動(dòng)是較為常見(jiàn)的傳動(dòng),它是原理是依靠齒輪齒廓直接接觸來(lái)傳遞動(dòng)力的,并具有傳動(dòng)比恒定,效率高,壽命長(zhǎng),對(duì)絕大多數(shù)都適用并且承載能力強(qiáng)等。 生產(chǎn)當(dāng)中,所用的作用與要求對(duì)齒輪來(lái)說(shuō)都是多種多樣的,但也就包含這兩項(xiàng)基本要求: (1)傳動(dòng)效率要高,并且齒輪傳動(dòng)在執(zhí)行任務(wù)時(shí),瞬時(shí)傳動(dòng)比平穩(wěn),且對(duì)齒輪的沖擊小。 (2)齒輪承載能力高 ; 齒輪能傳遞足夠大的動(dòng)力,使用時(shí)間長(zhǎng),質(zhì)量輕,。為了挑選齒輪類型,我們對(duì)材料,熱處理方式進(jìn)行選擇等。為了使齒輪的承載能力提高并且還使齒輪傳動(dòng)更加平穩(wěn),我選擇高變位齒輪傳動(dòng)。會(huì)對(duì)減速器造成負(fù)擔(dān),于是把齒輪選用硬齒面,齒輪的材料為20Cr鋼滲碳淬火,硬度為5662HRC(查表)齒輪按7級(jí)精度制造(查表)。 H1im=1500MP(查圖), F1im=460MP(查圖)2.2.1 初步選定齒輪參數(shù) 由機(jī)械零件課程設(shè)計(jì)表56, 設(shè)齒數(shù)比為u=4,選取Z24 d=0.7(查表) 則ZZu24496 故取Z962.2.2 確定軸齒輪中心距a 確定軸齒輪的計(jì)算功率 式中 K場(chǎng)合系數(shù),一小時(shí),輕度震動(dòng)。由機(jī)械工程手冊(cè)查得K0.7; K精度系數(shù),7級(jí)精度,查得: K0.9; K材料配對(duì)系數(shù),齒面滑動(dòng)速度 10級(jí),由機(jī)械工程手冊(cè)查得:K0.85。代入數(shù)據(jù)得 KW =KW以等于或略大于計(jì)算功率所對(duì)應(yīng)的中心距作為合理的選取值根據(jù)機(jī)械工程手冊(cè)/傳動(dòng)設(shè)計(jì)卷(第二版)表2522a,選取軸齒輪的中心距:a100mm.載荷系數(shù)K= KKK=0.532.2.3 幾何尺寸的計(jì)算 模數(shù)m等幾何計(jì)算由機(jī)械工程手冊(cè)/傳動(dòng)設(shè)計(jì)卷(第二版),標(biāo)準(zhǔn)選取a=100mm a=m(Z+Z)/2 代入數(shù)值m=1.6 取m=2 d1=mZ1=242=48mm d2=mZ2=296=192mm b=dd1= 0.748=33.2mm,取b2=35mm b1=b2+(510)=5055mm,取b1=45mm 計(jì)算小齒輪的名義轉(zhuǎn)矩 T1=9550P/n1=95501.5/940=15.24N.m 齒輪的實(shí)際圓周速度 v=d1n1/(601000)=48940/(601000)=2.36m/sYFS2/ o F2=3.98/460=0.0057 計(jì)算重合度系數(shù) Y=0.25+0.75/a=0.25+0.75/1.71=0.68862.3 內(nèi)齒輪的設(shè)計(jì) 我們通過(guò)齒輪的精度,材質(zhì),傳動(dòng)方式,來(lái)確定許用應(yīng)力。由所設(shè)計(jì)的傳動(dòng)方案,采用直齒圓柱齒輪傳動(dòng)。故齒輪選用軟齒面,齒輪的材料為45鋼調(diào)質(zhì)處理,硬度為229286HBS(查表)齒輪按8級(jí)精度制造(查表)。 H1im=690MP(查圖), F1im=220MP(查圖)2.3.1 按齒輪齒面接觸疲勞計(jì)算 確定公式參數(shù) 因?yàn)闈L動(dòng)軸承非對(duì)稱分布所以d=0.9因?yàn)辇X輪減速器為減速傳動(dòng) 所以u(píng)=i=4.1 初步選定齒輪參數(shù) Z1=24, Z2=UZ1=4.124=98.4,取Z2=98 幾何尺寸的計(jì)算 d1=mZ1=242=48mm d2=mZ2=298=196mm a=m(Z1+Z2)/2=2(24+98)/2=122mm b=dd1=0.948=43.2mm,取b2=45mm b1=b2(510)=5055mm,取b1=55mm 計(jì)算小齒輪的名義轉(zhuǎn)矩 T1=9550P/n1=95501.029/99.47=98.79N.M 齒輪的實(shí)際圓周速度 v= d1n1/(601000)=4899.47(601000)=0.25m/s804.1.1 卷筒的主要尺寸 根據(jù)計(jì)算選擇卷筒的直徑卷筒的主要尺寸為:直徑D、長(zhǎng)度L、厚度B。 卷筒的直徑D 由上求得可知: D=205 卷筒的長(zhǎng)度卷筒為多層卷繞,設(shè)各層的卷繞直徑分別為D1 D2 D3D,共繞n層,每層有Z圈,則總的繞繩量為 mH=Z(D1+D2+D3+DN) (4-1) D1=D+d D2=D+3d D3=D+5d Dn=D+(2n-1)d代入上式得: mH=Zn+d1+3+5+(2n-1) =Zn(D+nd)所以Z=mH/n(D+nd)(3)卷筒的厚度卷筒的壁厚可由經(jīng)驗(yàn)公式確定對(duì)于鑄鐵卷筒 B=0.02D+(610)(mm)即:B=0.02300+(610)=1216(mm)對(duì)于鋼卷筒 Bd在此選鑄鐵卷筒,由強(qiáng)度核及鑄造工藝要求,鑄鐵卷筒壁厚不宜小于12mm。取卷筒壁厚B=14mm。 (4) 鋼絲繩為尾在卷筒上的固定由于鋼絲繩為多層卷繞且使卷筒緊湊,采用下圖所示方法將繩尾引到卷筒一側(cè),再用壓板固定。(見(jiàn)圖4.1) 圖4.1 繩尾固定示意圖 (2)壓板的計(jì)算繩尾的壓力S S=kdSmax/eau(0.12)當(dāng)n=1.5時(shí),eau=e3=3.1當(dāng)n=2 時(shí),eau=e4=3.1當(dāng)n=1.5時(shí),eau=e6=3.1kd動(dòng)系數(shù) k=a+bv (a=1.11.4,a=1.2 b=0.1330.533 b=0.4,v=0.8)所以k=1.52又因?yàn)镾max=6yt/A=82691 N所以S=1.521054.714/4.5 =27.93KN S=2P (P為每個(gè)螺釘?shù)睦?壓板數(shù)ny=ks/s1 (k安全系數(shù),k1.52)為了安全,壓板數(shù)畢業(yè)設(shè)計(jì)(或論文)說(shuō)明書(shū)共17頁(yè)附錄1Industrial Robots and Electric drive system There are a variety of definitions of the term robot. Depending on the definition used, the number of robot installations worldwide varies widely. Numerous single-purpose machines are used in manufacturing plants that might appear to be robots. These machines are hardwired to perform a single function and cannot be reprogrammed to perform a different function. Such single-purpose machines do not fit the definition for industrial robots that is becoming widely accepted. This definition was developed by the Robot Institute of America:A robot is a reprogrammable multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks. Note that this definition contains the words reprogrammable and multifunctional. It is these two characteristics that separate the true industrial robot from the various single-purpose machines used in modern manufacturing firms. The term “reprogrammable” implies two things: The robot operates accommodate a variety of manufacturing tasks. The term “multifunctional” means that the robot can, through reprogramming and the use of different end-effectors, perform a number of different manufacturing tasks. Definitions written around these two critical characteristics are becoming the accepted definitions among manufacturing professionals. The first articulated arm came about in 1951 and was used by the U.S. Atomic Energy Commission. In 1954, the first programmable robot was designed by George Devil. It was based on two important technologies:Numerical control (NC) technology.Remote manipulator technology.Numerical control technology provided a form of machine control ideally suited to robots. It allowed for the control of motion by stored programs. These programs contain data points to which the robot sequentially moves, timing signals to initiate action and to stop movement, and logic statements to allow for decision making.Remote manipulator technology allowed a machine to be more than just another NC machine. It allowed such machines to become robots that can perform a variety of manufacturing tasks in both inaccessible and unsafe environments. By merging these two technologies, Devil developed the first industrial robot, an unsophisticated programmable materials handling machine.The first commercially produced robot was developed in 1959. In 1962, the first industrial robot to be used on a production line was installed by General Motors Corporation. This robot was produced by Animation. A major step forward in robot control occurred in 1973 with the development of the T-3 industrial robot by Cincinnati Milacron. The T-3 robot was the first commercially produced industrial robot controlled by a minicomputer.Numerical control and remote manipulator technology prompted the wide-scale development and use of industrial roots. But major technological developments do not take place simply because of such new capabilities. Something must provide the impetus for taking advantage of these capabilities. In the case of industrial robots, the impetus was economics.The rapid inflation of wages experienced in the 1970s tremendously increased the personnel costs of manufacturing firms. At the same time, foreign competition became a serious problem for U.S. manufacturers. Foreign manufacturers who had undertaken automation on a wide-scale basis, such as those in Japan, began to gain an increasingly large share of the U.S. and world market for manufactured goods, particularly automobiles.Through a variety of automation techniques, including robots, Japanese manufacturers, beginning in the 1970s, were able to produce better automobiles more cheaply than no automated U.S. manufacturers. Consequently, in order to survive, U.S. manufacturers were forced to consider any technological developments that could help improve productivity.Though a variety of automation techniques, including robots, Japanese manufacturers, beginning in the 1970s, were able to produce better automobiles more cheaply than no automated U.S. manufacturers. Consequently, in order to survive, U.S. manufacturers were forced to consider any technological developments that could help improve productivity.It became imperative to produce better products at lower costs in order to be competitive with foreign manufacturers. Other factors such as the need to find better ways of performing dangerous manufacturing tasks contributed to the development of industrial robots. However, the principal rationale has always been, and is still, improved productivity.One of the principal advantages of robots is that they can be used in settings that are dangerous to humans. Welding and parting are examples of applications where robots can be used more safely than humans, Even though robots are closely associated with safety in the workplace, they can, in themselves, be dangerous.Robots and robot cells must be carefully designed and configured so that they do not endanger human workers and other machines. Robot work envelopes should be accurately calculated and a danger zone surrounding the envelope clearly marked off. Red flooring strips and barriers can be used to keep human workers out of a robots work envelope.Even with such precautions it is still a good idea to have an automatic shutdown system in situations where robots are used. Such a system should have the capacity to sense the need for an automatic shutdown of operations. Fault-tolerant computers and redundant systems can be installed to ensure proper shutdown of robotics systems to ensure a safe environment.The robot electrically operated servo drive system sds is uses the moment of force and the strength which each kind of electric motor produces, directly or indirectly actuates the robot main body to obtain the robot each kind of movement implementing agency. The electric motor actuates which to the industry robot joint, the request has the maximum work rate quality compared to with the torque inertia compared to, rises up the dynamic torque, the is low inertia and broader also the smooth velocity modulation scope. Specially (hand fingernail) should use the volume, the quality as far as possible small electric motor like the robot terminal execution, when in particular requests the fast response, the servo motor must have a higher reliability and the stability, and has the bigger momentary overload ability. This is the servo motor in the industry robot the application precondition.The robot actuates the electrical machinery to the joint overriding demand the gauge natrium as follows: 1) rapidity. The electric motor from obtains the command signal to complete the active status time which the instruction requests to be supposed to be short. Response command signal time shorter, the electricity servosystem sensitivity higher, the fast response performance is better, generally is explains the servo motor fast response by the servo motor mechanical and electrical time-constant size the performance. 2) the starting moment inertia is bigger than. In in the actuation load situation, requests the robot the servo motor starting moment in a big way, the rotation inertia is small. 3) the control characteristic continuity and the straight line, along with the control signal change, the electric motor rotational speed can continuously change, sometimes also needs the rotational speed and the control signal has the direct ratio or approximately has the direct ratio. 4) modulates velocity the scope to be wide. Can use to 1: 1,000 10,000 velocity modulation scopes. 5)the volume small, the quality small, the axial size is short. 6) can undergo the harsh movement condition, may carry on the extremely frequent pro and con to and adds and subtracts the fast movement, and can withstand the overload in the short time.Industry robot direct motor drive principle like chart 1 shows. The industry robot electrically operated servosystem general structure is three closed-loops control, namely electric current link, speed ring and snap ring. At present the overseas many electric motors produce the factory to develop the actuation product which suitably matches with the exchange servo motor, the user act according to oneself need the function stress to choose the different servo-control way differently, in the ordinary circumstances, exchanges the servo driver below, passable has carried on the artificial hypothesis to its internal function parameter to realize the function:1) position control way; 2) speed control way; 3) torque control mode;4) position, speed mixed mode;5) position, torque mixed mode;6)speed, torque mixed mode; 7) torque limitation; 8) the position deviation oversized reports to the police;9) speed PID parameter establishment; 10) speed and acceleration forward feed parameter establishment;11) zero floats compensates the parameter establishment; 12) adds and subtracts the fast time establishment and so on 1. direct current servo motor driver direct current servo motor driver to use the pulse-duration modulation (PWM) the servo driver, changes through the change pulse width adds in the motor armature beginnings and ends average voltage, thus changes the electric motor the rotational speed. The PWM servo driver has the velocity modulation scope width, the low-speed characteristic well, responds, the efficiency quickly high, the overload capacity is strong and so on the characteristic, often takes the direct current servo motor driver in the industry robot.2. synchronized types exchange servo motor driver same direct current servo motor actuates the system to compare, the synchronized type exchange servo motor driver has the torque rotation inertia electronics brush and commutation spark merit and so on to be higher than, not to have, obtains the widespread application in the industry robot. The synchronized type exchange servo motor driver usually uses the electricity flow pattern pulse-duration modulation (PWM) the inversion and has the electric current link for the inner rim, the speed ring for the outer ring multi- closed-loop control system, realizes to the three-phase permanent magnetism synchronization servo motor electric current control. According to its principle of work, the actuation current waveform and the control mode difference, it may divide into two kind of servosystems: 1) rectangular wave electric current actuation permanent magnetism A.C. servomechanism. 2) sinusoidal current actuation permanent magnetism A.C. servomechanism. Uses the rectangular wave electric current actuation the permanent magnetism exchange servo motor to be called not brushes the direct current servo motor, uses he sinusoidal current actuation the permanent magnetism exchange servo motor to be called not brushes the exchange servo motor. 3. direct drives so-called direct drives (DD) the system, is the load conductive coupling which the electric motor if actuates in the same place, middle does not have any reduction gear. The same traditional electric motor servo actuates to compare, the DD actuation reduced the reduction gear, thus reduced the gap which in the system transmission process the reduction gear produces and becomes less crowded, enormously increased the robot precision, simultaneously also reduced because the reduction gear friction and the transmission torque pulsation creates the robot control precision reduces. But DD actuation because has above merit, therefore mechanical rigidity good, may the high speed high accuracy movement, also has the part few, the structure simple, is easy to service, the reliable higher characteristic, in the high accuracy, in the high speed industry robot application more and more brings to peoples attention. As the DD actuation technology essential link is the DD electric motor and its the driver. Below it should have the characteristic: 1) outputs the torque in a big way: For tradition drive type in servo motor output torque 50 100 times. 2) torque pulsation small: The DD electric motor torque pulsation may suppress in the output torque 5% in 10%. 3) efficiency: With uses the reasonable impedance matching the electric motor (under tradition drive type) to compare, the DD electric motor is works under the power conversion worse exploitation conditions. Therefore, the load is bigger, more favors to selects a bigger electric motor. At present, the DD electric motor mainly divides into changes the magnetic resistance and changes the magnetic resistance mixed type, has following two kind of structures pattern:1) the double stator structure changes the magnetic resistance DD electric motor; 2) the central stator structure changes the magnetic resistance mixed type DD electric motor. 5. special drivers 1)piezoelectricity driver. It is well known, has made using the piezoelectricity part electricity or the electrostriction phenomenon should the variant acceleration instrument and the ultrasonic sensor, the piezoelectricity driver use the site of electrical energy controls several microns to several hundred microns displacements in is higher than the micron level big strength, therefore the piezoelectricity driver generally uses in the special use miniature robot assembly system.2) ultrasonic wave electric motor. 3) the vacuum electric motor, uses in the vacuum robot which under the ultra pure environment works, for example uses in to transport the semiconductor silicon chip the ultra vacuum robot and so on.附錄2工業(yè)機(jī)器人及電動(dòng)驅(qū)動(dòng)系統(tǒng)有許多關(guān)于機(jī)器人這個(gè)術(shù)語(yǔ)的定義。采用不同的定義,全世界各地機(jī)器人的數(shù)量就會(huì)發(fā)生很大的變化。 在制造工廠中使用的許多單用途機(jī)器可能會(huì)看起來(lái)像機(jī)器人。這些機(jī)器是硬連線的,不能通過(guò)重新編程的方式去完成不同的工作。這種單用途的機(jī)器不能滿足人們?nèi)找鎻V泛接受的關(guān)于工業(yè)機(jī)器人的定義。這個(gè)定義是由美國(guó)機(jī)器人協(xié)會(huì)提出的:機(jī)器人是一個(gè)可以改變程序的多功能操作器,被設(shè)計(jì)用來(lái)按照預(yù)先編制的、能夠完成多種作業(yè)的運(yùn)動(dòng)程序運(yùn)送材料、零件、工具或者專用設(shè)備。注意在這個(gè)定義中包含有“可以改變程序”和“多功能”這兩個(gè)詞。正是這兩個(gè)詞將真正的機(jī)器人與現(xiàn)代制造工廠中使用的單一用途的機(jī)器區(qū)分開(kāi)來(lái)?!翱梢愿木幊绦颉边@個(gè)術(shù)語(yǔ)意味著兩件事:機(jī)器人根據(jù)編寫(xiě)的程序工作,以及可以通過(guò)重新編寫(xiě)程序來(lái)適應(yīng)不同種類的制造工作的需要。“多功能”這個(gè)詞意味著機(jī)器人能通過(guò)編程和使用不同的末端執(zhí)行機(jī)構(gòu),來(lái)完成不同的制造工作。圍繞著這兩個(gè)關(guān)鍵特征所撰寫(xiě)的定義正在變成為制造業(yè)的專業(yè)人員所接受的定義。第一個(gè)帶有活動(dòng)關(guān)節(jié)的手臂于1951年被研制出來(lái),由美國(guó)原子能委員會(huì)使用。在1954年,第一個(gè)可以編程的機(jī)器人有喬治.狄弗設(shè)計(jì)出來(lái)。它基于下面兩項(xiàng)重要技術(shù):數(shù)字控制(NC)技術(shù)。遠(yuǎn)程操作器技術(shù)。 數(shù)字控制技術(shù)提供了一種非常適合于機(jī)器人的機(jī)器控制技術(shù)。它可以通過(guò)儲(chǔ)存的程序?qū)\(yùn)動(dòng)進(jìn)行控制。這些程序包含機(jī)器人進(jìn)行順序運(yùn)動(dòng)的數(shù)據(jù),開(kāi)始運(yùn)動(dòng)和停止運(yùn)動(dòng)的時(shí)間控制信號(hào),以及做出決定所需要的邏輯語(yǔ)句。遠(yuǎn)程操作器技術(shù)使得一臺(tái)機(jī)器的性能超出一臺(tái)數(shù)控機(jī)器。它可以使這種機(jī)器能夠在不容易進(jìn)入和不安全的環(huán)境中完成各種制造任務(wù)。通過(guò)融合了上述兩項(xiàng)技術(shù),狄弗研制出第一個(gè)機(jī)器人,它是一個(gè)不復(fù)雜的,可以編程的物料運(yùn)送機(jī)器人。第一臺(tái)商業(yè)化生產(chǎn)的機(jī)器人在1959年研制成功。通用汽車公司在1962年安裝了第一臺(tái)用于生產(chǎn)線上的工業(yè)機(jī)器人,它是尤尼梅森公司生產(chǎn)的。在1973年,辛辛那提.米蘭克朗公司研制出T-3工業(yè)機(jī)器人,在機(jī)器人的控制方面取得了較大的進(jìn)展。T-3機(jī)器人是第一臺(tái)商業(yè)化生產(chǎn)的采用計(jì)算機(jī)控制的機(jī)器人。數(shù)字控制技術(shù)和遠(yuǎn)程操作器技術(shù)推動(dòng)了大范圍的機(jī)器人研制和應(yīng)用。但是主要的技術(shù)進(jìn)步并不僅僅上由于這些新的應(yīng)用能力而產(chǎn)生的,而是必須由利用這些能力所得到的效益來(lái)提供動(dòng)力。就工業(yè)機(jī)器人而言,這個(gè)動(dòng)力是經(jīng)濟(jì)性。在20世紀(jì)70年代中,工資的快速增長(zhǎng)大大增加了制造業(yè)的企業(yè)中的人工費(fèi)用。與此同時(shí),來(lái)自國(guó)外的競(jìng)爭(zhēng)成為美國(guó)制造業(yè)所面臨的一個(gè)嚴(yán)峻的考驗(yàn)。諸如日本等外國(guó)的制造廠家在廣泛地應(yīng)用了自動(dòng)化技術(shù)之后,其工業(yè)產(chǎn)品,特別是汽車,在美國(guó)和世界時(shí)常中占據(jù)了日益增大的分額。通過(guò)采用包括機(jī)器人在內(nèi)的各種自動(dòng)化技術(shù),從70年代開(kāi)始,日本的制造廠家能夠比沒(méi)有采用自動(dòng)化技術(shù)的美國(guó)制造廠家生產(chǎn)更好的和更便宜的汽車。隨后,為了生存,美國(guó)制造廠家被迫考慮采用任何能夠提高生產(chǎn)率的技術(shù)。為了與國(guó)外制造廠家進(jìn)行競(jìng)爭(zhēng),必須以比較低的成本,生產(chǎn)出更好的產(chǎn)品。其他的因素,諸如尋找能夠更好地完成帶有危險(xiǎn)性的制造工作的方式也促進(jìn)了工業(yè)機(jī)器人的發(fā)展。但是,主要的理由一直是,而且現(xiàn)在仍然是提高生產(chǎn)率。機(jī)器人的一個(gè)主要優(yōu)點(diǎn)是它們可以在對(duì)于人類來(lái)說(shuō)是危險(xiǎn)的位置上工作。采用機(jī)器人進(jìn)行焊接和切斷工作上比由人工來(lái)完成這些工作更安全的例子。盡管機(jī)器人與工作地點(diǎn)的安全密切相關(guān),它們本身也可能是危險(xiǎn)的。應(yīng)該仔細(xì)地設(shè)計(jì)和配置機(jī)器人和機(jī)器人單元,使它們不會(huì)傷害人類和其他機(jī)器。應(yīng)該精確地計(jì)算出機(jī)器人的工作范圍,并且在這個(gè)范圍的四周清楚地標(biāo)出危險(xiǎn)區(qū)域??梢圆捎迷诘孛嫔袭?huà)出紅顏色的線和設(shè)置障礙物以阻止工人進(jìn)入機(jī)器人的工作范圍。即使有了這些預(yù)防措施,在使用機(jī)器人的場(chǎng)地中設(shè)置一個(gè)自動(dòng)停止工作的系統(tǒng)仍然上不失為一個(gè)好主意。機(jī)器人的這個(gè)系統(tǒng)應(yīng)該具有能夠檢測(cè)出是否有需要自動(dòng)停止工作的要求的能力。為了保證能有一個(gè)安全的環(huán)境,應(yīng)當(dāng)安裝容錯(cuò)計(jì)算機(jī)和冗余系統(tǒng)來(lái)保證在適當(dāng)?shù)臅r(shí)候停止機(jī)器人的工作。機(jī)器人電動(dòng)伺服驅(qū)動(dòng)系統(tǒng)是利用各種電動(dòng)機(jī)產(chǎn)生的力矩和力,直接或間接地驅(qū)動(dòng)機(jī)器人本體以獲得機(jī)器人的各種運(yùn)動(dòng)的執(zhí)行機(jī)構(gòu)。對(duì)工業(yè)機(jī)器人關(guān)節(jié)驅(qū)動(dòng)的電動(dòng)機(jī),要求有最大功率質(zhì)量比和扭矩慣量比、高起動(dòng)轉(zhuǎn)矩、低慣量和較寬廣且平滑的調(diào)速范圍。特別是像機(jī)器人末端執(zhí)行器(手爪)應(yīng)采用體積、質(zhì)量盡可能小的電動(dòng)機(jī),尤其是要求快速響應(yīng)時(shí),伺服電動(dòng)機(jī)必須具有較高的可靠性和穩(wěn)定性,并且具有較大的短時(shí)過(guò)載能力。這是伺服電動(dòng)機(jī)在工業(yè)機(jī)器人中應(yīng)用的先決條件。機(jī)器人對(duì)關(guān)節(jié)驅(qū)動(dòng)電機(jī)的主要要求規(guī)納如下:1)快速性。電動(dòng)機(jī)從獲得指令信號(hào)到完成指令所要求的工作狀態(tài)的時(shí)間應(yīng)短。響應(yīng)指令信號(hào)的時(shí)間愈短,電伺服系統(tǒng)的靈敏性愈高,快速響應(yīng)性能愈好,一般是以伺服電動(dòng)機(jī)的機(jī)電時(shí)間常數(shù)的大小來(lái)說(shuō)明伺服電動(dòng)機(jī)快速響應(yīng)的性能。2)起動(dòng)轉(zhuǎn)矩慣量比大。在驅(qū)動(dòng)負(fù)載的情況下,要求機(jī)器人的伺服電動(dòng)機(jī)的起動(dòng)轉(zhuǎn)矩大,轉(zhuǎn)動(dòng)慣量小。3)控制特性的連續(xù)性和直線性,隨著控制信號(hào)的變化,電動(dòng)機(jī)的轉(zhuǎn)速能連續(xù)變化,有時(shí)還需轉(zhuǎn)速與控制信號(hào)成正比或近似成正比。4)調(diào)速范圍寬。能使用于1:100010000的調(diào)速范圍。5)體積小、質(zhì)量小、軸向尺寸短。6)能經(jīng)受得起苛刻的運(yùn)行條件,可進(jìn)行十分頻繁的正反向和加減速運(yùn)行,并能在短時(shí)間內(nèi)承受過(guò)載。 工業(yè)機(jī)器人電動(dòng)伺服系統(tǒng)的一般結(jié)構(gòu)為三個(gè)閉環(huán)控制,即電流環(huán)、速度環(huán)和位置環(huán)。目前國(guó)外許多電動(dòng)機(jī)生產(chǎn)廠家均開(kāi)發(fā)出與交流伺服電動(dòng)機(jī)相適配的驅(qū)動(dòng)產(chǎn)品,用戶根據(jù)自己所需功能側(cè)重不同而選擇不同的伺服控制方式,一般情況下,交流伺服驅(qū)動(dòng)器,可通過(guò)對(duì)其內(nèi)部功能參數(shù)進(jìn)行人工設(shè)定而實(shí)現(xiàn)以下功能:1)位置控制方式2)速度控制方式;3)轉(zhuǎn)矩控制方式;4)位置、速度混合方式;5)位置、轉(zhuǎn)矩混合方式;6)速度、轉(zhuǎn)矩混合方式;7)轉(zhuǎn)矩限制;8)位置偏差過(guò)大報(bào)警;9)速度PID參數(shù)設(shè)置;10)速度及加速度前饋參數(shù)設(shè)置;11)零漂補(bǔ)償參數(shù)設(shè)置;12)加減速時(shí)間設(shè)置等1直流伺服電動(dòng)機(jī)驅(qū)動(dòng)器直流伺服電動(dòng)機(jī)驅(qū)動(dòng)器多采用脈寬調(diào)制(PWM)伺服驅(qū)動(dòng)器,通過(guò)改變脈沖寬度來(lái)改變加在電動(dòng)機(jī)電樞兩端的平均電壓,從而改變電動(dòng)機(jī)的轉(zhuǎn)速。PWM伺服驅(qū)動(dòng)器具有調(diào)速范圍寬、低速特性好、響應(yīng)快、效率高、過(guò)載能力強(qiáng)等特點(diǎn),在工業(yè)機(jī)器人中常作為直流伺服電動(dòng)機(jī)驅(qū)動(dòng)器。2同步式交流伺服電動(dòng)機(jī)驅(qū)動(dòng)器 伺服電動(dòng)機(jī)驅(qū)動(dòng)系統(tǒng)相比,同步式交流伺服電動(dòng)機(jī)驅(qū)動(dòng)器具有轉(zhuǎn)矩轉(zhuǎn)動(dòng)慣量比高、無(wú)電刷及換向火花等優(yōu)點(diǎn),在工業(yè)機(jī)器人中得到廣泛應(yīng)用。同步式交流伺服電動(dòng)機(jī)驅(qū)動(dòng)器通常采用電流型脈寬調(diào)制(PWM)相逆變器和具有電流環(huán)為內(nèi)環(huán)、速度環(huán)為外環(huán)的多閉環(huán)控制系統(tǒng),以實(shí)現(xiàn)對(duì)三相永磁同步伺服電動(dòng)機(jī)的電流控制。根據(jù)其工作原理、驅(qū)動(dòng)電流波形和控制方式的不同,它又可分為兩種伺服系統(tǒng):1)矩形波電流驅(qū)動(dòng)的永磁交流伺服系統(tǒng)。2)正弦波電流驅(qū)動(dòng)的永磁交流伺服系統(tǒng)。 矩形波電流驅(qū)動(dòng)的永磁交流伺服電動(dòng)機(jī)稱為無(wú)刷直流伺服電動(dòng)機(jī),采用正弦波電流驅(qū)動(dòng)的永磁交流伺服電動(dòng)機(jī)稱為無(wú)刷交流伺服電動(dòng)機(jī)。3直接驅(qū)動(dòng) 驅(qū)動(dòng)(DD)系統(tǒng),就是電動(dòng)機(jī)與其所驅(qū)動(dòng)的負(fù)載直接耦合在一起,中間不存在任何減速機(jī)構(gòu)。同傳統(tǒng)的電動(dòng)機(jī)伺服驅(qū)動(dòng)相比, DD驅(qū)動(dòng)減少了減速機(jī)構(gòu),從而減少了系統(tǒng)傳動(dòng)過(guò)程中減速機(jī)構(gòu)所產(chǎn)生的間隙和松動(dòng),極大地提高了機(jī)器人的精度,同時(shí)也減少了由于減速機(jī)構(gòu)的摩擦及傳送轉(zhuǎn)矩脈動(dòng)所造成的機(jī)器人控制精度降低。而DD驅(qū)動(dòng)由于具有上述優(yōu)點(diǎn),所以機(jī)械剛性好,可以高速高精度動(dòng)作,且具有部件少、結(jié)構(gòu)簡(jiǎn)單、容易維修、可靠性高等特點(diǎn),在高精度、高速工業(yè)機(jī)器人應(yīng)用中越來(lái)越引起人們的重視。作為DD驅(qū)動(dòng)技術(shù)的關(guān)鍵環(huán)節(jié)是DD電動(dòng)機(jī)及其驅(qū)動(dòng)器。它應(yīng)具有以下特性:1)輸出轉(zhuǎn)矩大:為傳統(tǒng)驅(qū)動(dòng)方式中伺服電動(dòng)機(jī)輸出轉(zhuǎn)矩的50100倍。2)轉(zhuǎn)矩脈動(dòng)?。?DD電動(dòng)機(jī)的轉(zhuǎn)矩脈動(dòng)可抑制在輸出轉(zhuǎn)矩的510以內(nèi)。3)效率:與采用合理阻抗匹配的電動(dòng)機(jī)(傳統(tǒng)驅(qū)動(dòng)方式下)相比, DD電動(dòng)機(jī)是在功率轉(zhuǎn)換較差的使用條件下工作的。因此,負(fù)載越大,越傾向于選用較大的電動(dòng)機(jī)。目前,DD電動(dòng)機(jī)主要分為變磁阻型和變磁阻混合型,有以下兩種結(jié)構(gòu)型式:l)雙定子結(jié)構(gòu)變磁阻型DD電動(dòng)機(jī);2)中央定子型結(jié)構(gòu)的變磁阻混合型DD電動(dòng)機(jī)。5特種驅(qū)動(dòng)器1)壓電驅(qū)動(dòng)器。眾所周知,利用壓電元件的電或電致伸縮現(xiàn)象已制造出應(yīng)變式加速度傳感器和超聲波傳感器,壓電驅(qū)動(dòng)器利用電場(chǎng)能把幾微米到幾百微米的位移控制在高于微米級(jí)大的力,所以壓電驅(qū)動(dòng)器一般用于特殊用途的微型機(jī)器人系統(tǒng)中。2)超聲波電動(dòng)機(jī)。3)真空電動(dòng)機(jī),用于超潔凈環(huán)境下工作的真空機(jī)器人,例如用于搬運(yùn)半導(dǎo)體硅片的超真空機(jī)器人等。附錄317
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