二自由度高壓水射流切割機(jī)的工作裝置


頁數(shù)：47 字?jǐn)?shù)：17657

畢業(yè)設(shè)計(jì)（論文）中文摘要

本文通過運(yùn)用3RPS型并聯(lián)機(jī)構(gòu)對(duì)江蘇旭升水射流科技有限公司生產(chǎn)的超高壓水射流切割機(jī)進(jìn)行改進(jìn)，使原先只能進(jìn)行二維加工的水射流切割機(jī)能夠進(jìn)行三維加工。本文先對(duì)國內(nèi)外水射流技術(shù)特點(diǎn)、發(fā)展?fàn)顩r和運(yùn)用領(lǐng)域作了簡(jiǎn)單的介紹，隨后對(duì)要改進(jìn)的裝置進(jìn)行了結(jié)構(gòu)設(shè)計(jì)，介紹了設(shè)計(jì)并聯(lián)機(jī)構(gòu)的方法和具體工作，著重講解了平面鉸鏈和伸縮桿的設(shè)計(jì)，并對(duì)不同的設(shè)計(jì)方案作出了詳細(xì)的比較。本文中還提出了一些有創(chuàng)意的結(jié)構(gòu)設(shè)想，這些結(jié)構(gòu)設(shè)想既能達(dá)到設(shè)計(jì)要求結(jié)構(gòu)又簡(jiǎn)單、便于安裝。同時(shí)本文又對(duì)三自由度并聯(lián)機(jī)構(gòu)作了相關(guān)的運(yùn)動(dòng)和速度分析，并通過VB編程來實(shí)現(xiàn)并聯(lián)機(jī)構(gòu)運(yùn)動(dòng)和速度分析復(fù)雜的運(yùn)算。最后用PRO/E繪出了機(jī)構(gòu)零件的三維圖形，并按照要求進(jìn)行裝配，定義好聯(lián)接關(guān)系、運(yùn)動(dòng)副、驅(qū)動(dòng)器等。關(guān)鍵字 旭升水射流 3RPS并聯(lián) PRO/E VB

畢業(yè)設(shè)計(jì)（論文）外文摘要

Title THE OF PARALLEL ROBOT IN UHP WATER JET


Abstract
HUAIAN SUNRISE WATERJER TECHNOLOGY COMPANY specializes in UHP water jet .But this machine can only cut in 2D. This article describe use 3RPS parallel robot to improve this robot to make it cut in 3D .And this article first give simple introduce of the feathers of UHP water jet abroad and home ,developing trend and usage realm .And then the text carry on the structure design to the device that wants to improve, introduce a design to merge the method and concrete work of the organization, emphasizing to explain in detail the design of the flat revolute pintle and flexible pole, and to the different design project make detailed of comparison.
Still put forward some creative structure to conceive in this text, these structures conceive not only can attain a design to request structure again in brief but also be easy to install. This text merged organization to make related sport and the speed analysis to three the freedom degrees again in the meantime, and pass a VB plait distance to carry out to merge the organization sport and speed to analyze a complicated operation .Drew the 3D sketch of the organization spare parts with the PRO/E finally, and carry on assemble according to the request, define to connect a relation ,sport –vice ,actuator etc..


keywords sunrise water jet 3RPS parallel PRO/E VB
目 次

1 引言……………………………………………………………………………… 1
2 課題來源………………………………………………………………1
3 超高壓水射流切割機(jī)的發(fā)展…………………………………………………… 2
3.1 國外超高壓水射流切割技術(shù)現(xiàn)狀…………………………………………… 2
3.2國內(nèi)超高壓水射流切割技術(shù)現(xiàn)狀……………………………………………2
3.3 超高壓水射流切割技術(shù)存在的問題………………………………………………4
3.4 對(duì)超高壓水射流切割機(jī)切割功能的改進(jìn)……………………………………… 4
4 3-RPS并聯(lián)水射流切割裝置的設(shè)計(jì)…………………………………………4
4.1 3-RPS并聯(lián)機(jī)構(gòu)簡(jiǎn)析…………………………………………………………………4
4.2 3-RPS并聯(lián)機(jī)構(gòu)的自由度……………………………………………………………6
4.3 3-RPS并聯(lián)機(jī)構(gòu)的工作原理………………………………………………… 6
4.4 3-RPS并聯(lián)機(jī)構(gòu)的設(shè)計(jì)方法和設(shè)計(jì)步驟……………………………………6
4.5 3-RPS并聯(lián)水射流切割裝置的概念設(shè)計(jì)……………………………………8
5 相關(guān)構(gòu)件的介紹……………………………………………………………………15
5.1 鉸鏈的介紹………………………………………………………………………15

5.2 伸縮桿的工作原理……………………………………………………………… 18
5.3 動(dòng)平臺(tái)的設(shè)計(jì)………………………………………………………………………20
5.4 固定平臺(tái)的設(shè)計(jì)…………………………………………………………………20
5.5 電動(dòng)機(jī)的選擇………………………………………………………………21
5.6 電機(jī)的安裝…………………………………………………………………22
5.7伸縮桿與固定套的連接……………………………………………………22
5.8工作裝置與原機(jī)床的連接………………………………………………24
6 3-RPS并聯(lián)水射流切割裝置的速度分析……………………………24
7 運(yùn)動(dòng)、速度分析的算法實(shí)現(xiàn)………………………………………………………29
7.1 運(yùn)動(dòng)反解算法……………………………………………………………………29
7.2 速度正、反解算法原理……………………………………………………………31
結(jié)論 ………………………………………………………………………………… 33
致謝 ……………………………………………………………………………………34
參考文獻(xiàn) ………………………………………………………………………………35
附錄A運(yùn)動(dòng)反解VB編程程序………………………………………………………………36
附錄B運(yùn)動(dòng)反解VB編程程序………………………………………………………………36
圖1 3-RPS并聯(lián)水射流切割裝置PRO/E三維圖
圖2 部分零件圖