曲轴上下料机器人系统的运动学分析及仿真

针对冰箱压缩机曲轴在磨削加工中自动上下料要求,建立了曲轴上下料机器人系统运动过程中的数学模型,基于SolidWorks Motion仿真研究了上下料过程机器人的运动特性。仿真结果表明：机器人在有限工作空间和限制节拍5 s的条件下实现上下料操作的可行性。该曲轴上下料机器人成功应用于实际生产中,开创了曲轴磨削加工中自动上下料的先例。     

基于机器人浮动功能的冰箱压缩机曲轴磨削生产线研究

介绍工业机器人在冰箱压缩机曲轴磨削加工中的应用,以机器人、传送线和磨床集成开发出冰箱压缩机曲轴磨削自动生产线。由于冰箱压缩机曲轴磨削加工上料过程对柔性要求较高,目前业内还没有使用机器人代替人工进行曲轴磨削加工自动上下料的生产线,故机器人上料过程是该生产线的最大难点。重点研究了机器人浮动功能在曲轴磨削上料过程的应用,并通过多次实验找到合适的机器人上料浮动力条件。经试运行,机器人上料效果完全达到了人工上料标准,该生产线可实现柔性自动化生产。     

基于RobotStudio的机器人上下料工作站仿真分析与优化

以机器人上下料为研究对象,利用RobotStudio和SolidWorks搭建了机器人上下料智能工作站,规划了工作站的空间布局,为机器人设计了末端夹具。根据工作站的运行模式创建了仿真运行的I/O信号与逻辑,分析了机器人程序,同时动态监测设备间的碰撞情况,分析优化了机器人的作业性能,实现了机器人为4台数控机床自动上下料的仿真与优化。仿真结果表明:碰撞监测功能可动态观察机器人作业过程中的碰撞情况,实时改变系统参数可将机器人的作业性能数据化,直观的分析和优化机器人的速度、作业能耗与电机功率,指导现场生产。     

基于公理化映射的机床上下料机器人结构设计

上下料工业机器人是一种提高数控机床自动化水平的有效手段。面向上下料机器人的机械结构设计问题,提出一种基于公理化映射机理的机器人结构设计方法,详细阐述了该方法流程,完成了桁架式上下料机器人的结构设计实例。结果表明,所设计的机器人具有良好的可行性,使机器人设计过程更加系统化,并建立了机器人技术指标、功能规划和机械结构三个领域之间的集成映射关系。     

FANUC机器人机床上下料系统设计与仿真

工业机器人已经广泛应用到现代制造工厂,机器人选型和仿真分析是机器人应用的关键。根据产品的加工工艺和上下料的要求,设计了分度自动夹具和专用夹爪。基于FANUC ROBOGUIDE仿真软件,将机床、机器人、夹具、工件、料框等三维模型导入仿真软件中进行组合,通过示教做上下料仿真。仿真分析的结果验证了机器人选型的合理性。通过对机器人运动轨迹的分析,调整了整个系统的布局,使布局更加合理。     

基于RobotStudio的多机器人柔性制造生产线虚拟仿真设计

以多机器人柔性制造生产线为研究对象,介绍了一种利用Solid Works和Robot Studio对多机器人自动线建模及虚拟生产的方案。构建了生产线的布局,为上下料机器人设计了专用夹具,依据生产线连续运行模式,创建了仿真运行I/O信号和动态Smart组件,实现了生产线的离线编程和仿真。仿真结果表明:实时改变机器人TCP速度等参数可动态输出机器人速度轨迹和生产节拍。该设计方案可以为多机器人自动化生产线在现代工业制造领域的推广和应用提供理论依据和试验平台。     

2P3R型机床上下料机器人动力学分析及仿真

针对自主创新设计的2P3R型机床上下料机器人,建立了D-H坐标系,在此基础上,采用拉格朗日力学的方法详细推导了该机器人动力学数学模型;运用UG软件绘制了该机器人虚拟样机模型并导入到ADAMS中,定义各杆件材料、添加约束和驱动,并对机器人上下料过程进行动力学仿真分析,分析得到该机器人上下料过程中各关节力/力矩变化曲线图。研究结果为该机器人动态设计及动力学控制提供了理论依据。     

基于EtherNet/IP工业以太网的FANUC机器人上下料单元系统集成应用研究

针对上下料单元设备间通过物理I/O硬件连接施工和维护麻烦、不易扩展等缺点，构建基于工业以太网上下料系统集成方案。重点研究基于EtherNet/IP工业以太网的罗克韦尔PAC、FANUC系统数控机床以及FANUC机器人设备之间数据通信，分析产品加工流程，机器人夹具快换功能，设备上下料程序。通过搭建的实验平台，验证设计方案的正确性，软件性能稳定和功能丰富。结果表明：基于工业以太网的上下料单元硬件连接简单，维护方便，通信数据丰富，功能开发灵活。     

工业机器人上下料技术及数控车床加工技术组合应用研究

为提高数控加工的切削效率和加工精度,对工业机器人上下料技术及数控机床加工技术组合应用进行研究.分析了GSK机器人及980T数控系统车床的特点.针对加工实例,设计机器人自动上下料机构,机器人与数控车床通讯单元,规划机器人上、下料运行轨迹.该研究结果能使机器人与数控车床配合,实现零件加工过程中上下料的自动化和无人化.是一种小型柔性制造单元在数控加工中的具体应用.     

小型齿轮加工单元自动上下料系统的设计与实现

文章针对小型齿轮加工人工上下料的不足,提出了一种基于工业机器人上下料技术实现小型齿轮柔性加工的设计方案。根据齿轮零件加工要求,分析零件加工工艺,确定系统组成、布局及工作流程;采用西门子S7-1500PLC作为主控制器,通过MODBUS-TCP通信协议,实现主控PLC与机器人、数控机床及其他辅助设备之间的数据传输;最后,规划机器人的运动轨迹,编写机器人上下料程序。试验结果表明,该设计方案可省时、省力、高效地完成齿轮加工自动上下料任务,实现小型齿轮的大批量、自动化生产。     

新型的治疗阿尔茨海默氏症药物(1-二甲基磷酰基-2,2,2-三氯)-乙基-1-醇烟酸醋对体外神经细胞的作用

目的: 观察本实验室合成的一种治疗阿尔茨海默氏症(AD)的药物(1-二甲基磷酰基-2, 2, 2 -三氯)-乙基^-1-醇烟酸醋(NMF),对体外培养的皮层神经细胞活性的影响以及对海人藻酸(KA)所致的神经损伤的保护作用。方法: 采用体外培养皮层神经元的方法,解剖分离 15 d胚胎小鼠皮层神经细胞, 接种于 96孔板,48 h 后加药并培养 72 h,以 MIT 法 观察 NMF 对小鼠皮层神经细胞活性的影响;同时将接种于 24 孔板的细胞预先给予 NMF,d 3 时加或不加KA处理后,以台盼蓝染色鉴别并计数死、活细胞,可得出细胞的存活率。结果: NMF 明显促进胎鼠皮层神经元活性,其中 NMF1、0. 1、10nmol·L^-1促进神经元活性增殖率分别高达 34.7%、37.4%、36. 7%, NMF 明显促进正常胎鼠皮层神经元存活卒,与对照组比较,10nmol·L^-1 NMF 对皮层神经元的存活率分别提高 39.3%、73.5%。 NMF能显著 对抗 KA 所致的神经元损伤,与 KA 损伤组相比, NMF0.1、10、10nmol·L^-1对损伤皮层神经元的保护率分别为 77.30%、80.10%、84.15%。结论: NMF 明 显促进胎鼠皮层神经元的洁性、提高正常皮层神经元,的存活卒,并能有效地保护KA所致的神经元损伤,提示 NMF 是一种很有潜力的治疗 AD 的药物。     

Three-Dimensional Growth of Coherent Ferrite in Austenite: A Molecular Dynamics Study

Coherent second phase often exhibits anisotropic morphology with specifi c orientations with respect to both the second and the matrix phases. As a key feature of microstructure, the morphology of the coherent particles is essential for understanding the second-phase strengthening eff ect in various industrial alloys. This letter reports anisotropic growth of coherent ferrite from austenite matrix in pure iron based on molecular dynamics simulation. We found that the ferrite grain tends to grow into an elongated plate-like shape, independent of its initial confi guration. The fi nal shape of the ferrite is closely related to the misfi t between the two phases, with the longest direction and the broad facet of the plate being, respectively, consistent with the best matching direction and the best matching plane calculated via the Burgers vector content(BVC) method. The strain energy calculation in the framework of Eshelby's inclusion theory verifi es that the simulated orientation of the coherent ferrite is energetically favorable. It is anticipated that the BVC method will be applicable in analysis of anisotropic growth and morphology of coherent second phase in other phase transformation systems.     

Effect of Short-Time Aging on the Pitting Corrosion Behavior of a Novel Lean Duplex Stainless Steel 2002

The effect of short-time aging in the temperature range between 400 and 1000 °C on the pitting corrosion behavior and mechanical property of a novel lean duplex stainless steel(LDSS) 2002 was investigated through the potentiostatic critical pitting temperature(CPT) tests and the Charpy impact tests. Both the pitting corrosion resistance and the toughness of aged specimens degraded due to the precipitation of detrimental secondary phases and the most significant reduction of CPT and impact energy emerged at 650 °C concurrently. The CPT of LDSS 2002 specimen aged at 650 °C decreased by 28 °C, and the impact energy dropped from 69 to 29 J/cm~2 compared with the solution-annealed sample. Transmission electron microscopy characterization showed that the main precipitates in LDSS 2002 were Cr_2N and M_(23)C_6 along the ferrite–austenite grain boundaries.     

Information for Contributors

正The Transactions of Nonferrous Metals Society of China,founded in 1991 and sponsored by The Nonferrous Metals Society of China,is published monthly now and mainly contains reports of original research which reflect the new progresses in the field of nonferrous metals science and technology,including mineral processing,extraction metallurgy,metallic materials and heat treatments,metal working,physical metallurgy,powder metallurgy,with the emphasis     

Preface

<正>We are pleased to present this Special Issue of Transactions of Nonferrous Metals Society of China containing selected papers from the First Asian Conference on Aluminum Alloys(ACAA-2013),held in Beijing,China,13–17 October 2013.This conference has been initiated,with approval of     

Information for Contributors

The Transactions of Nonferrous Metals Society of China, founded in 1991 and sponsored by The Nonferrous Metals Society of China, is published monthly now and mainly contains reports of original research which reflect the new progresses in the field of nonferrous metals science and technology, including mineral processing, extraction metallurgy, metallic materials and heat treatments, metal working, physical metallurgy, powder metallurgy, with the emphasis on fundamental science. It is the unique preeminent publication in English for scientists, engineers, under/post-graduates on the field of nonferrous metals industry. This journal is covered by many famous abstract/index systems and databases such as SCI Expanded, Ei Compendex Plus, 1NSPEC, CA, METADEX, AJ and JICST.     

INTRODUCTION TO PATENTS

The invention provides a method of making a mold which can reduce SOx generation rate while preventing decrease in hardening rate in the case of using sulfuric acid for a hardener composition. The method has a mixture step in which fire-resistant particles, a hardener composition and a binder composition are mixed to obtain a composition for a mold. The hardener composition contains sulfuric acid. In the mixture step, sodium carbonate is added. A molar ratio of the sulfuric acid to the sodium carbonate is 0.5 or more and 4.0 or less.     

China Foundry Week 2014

China Foundry Week, hosted by the Foundry Institution of Chinese Mechanical Engineering Society （FICMES） each year, is a large academic event in China. It is one of the ten high-impact activities sponsored by the Chinese Mechanical Engineering Society.     

17th Conference of Hydrodynamic and Electromechanical Control Engineering Call for papers

正1.Contents In order to promote the academic exchanges and technical communication of the research in the field of fluid power transmission and control,fluid control engineering specialized committee of the Chinese Society of Theoretical and Applied Mechanics will hold the 17th Conference of Hydrodynamic and Electromechanical Control Engineering on July 27-29,2014 in Tibet,Lhasa city.     

Formulas of Tension of Continuous Rolling Process

The development of computer controlled continuous rolling process calls for a mathematical expression that can express the inequality condition of "constant flow". Tension is the link of the continuous rolling process. From the condition of dynamic equilibrium, a differential equation of tension is given out. On the basis of the physical rules established from the industrial practice and experimental studies, the law of volume constancy, the linear relation of forward slip and tension, the state equation of continuous rolling, the formula of dynamic tension, and the formula of static tension have been obtained. These formulae reflect the functional relations between tensions, thickness, roll velocity, and time in the continuous rolling process. It is implied that the continuous rolling process is a gradually steady, controllable, and measurable dynamic system. An assumption of predicting the thickness of a steel plate using these tension formulae is also put forward.