一种新型四自由度混联机器人的设计与分析

通过对机器人串并联结构的分析,设计了一种新型的四自由度混联机器人,克服了同类机器人腕部俯仰电机不容易被安放在机架上的困难。将控制电机都设计在机架上,大小臂电机不同轴,腕部俯仰电机与大臂电机同轴,通过一种双平行四边形机构实现腕部俯仰动作,结构简单、俯仰角容易控制,俯仰运动不受大小臂运动的影响而发生牵连运动。腕部俯仰驱动的传动件为连杆,与大小臂以并联的形式进行连接,对机器人模型进行静力学分析,分析结果表明这种腕部俯仰机构能够提高机械臂的抗弯刚度。     

基于PLC的控制棒驱动机构复验

为了检验控制棒驱动机构的功能和性能是否满足设计规范书的要求,完成驱动机构的出厂试验,设计了控制棒驱动机构试验装置.基于可编程逻辑控制器(以下简称PLC)的控制棒驱动机构试验装置实现了控制棒的提升、保持、下降和报警综合等功能.文中介绍了控制棒驱动机构试验装置的原理和实现方法,通过和驱动机构的联调试验,证明控制棒驱动机构试...     

Effect of Sampling Methods on N Detection in High Nitrogen Steel

The effect of sampling methods on the detection of N content in the high nitrogen steel (HNS) was studied by variance analysis method. In the experiments, two kinds of samples (rod sample and chip sample) were chosen. It was showed that when the N content was in the range of 0.06%～0.4%, the results obtained by two methods were almost the same, indicating that both were suitable to identify the N in the steel. However, when the N content was higher than 0.4%, the result obtained using chips as sample was lower than that using rod. The N₂ bubble in the rod sample might cause error since it didn't comprise the N content. Hence, the N content could be reflected more accurately by the chip samples. Based on the difference of N content detected by two methods, the shrinkage rate was analyzed theoretically and found to be inversely proportional to the pressure of N₂ bubbles in steel.     

拉丝制绳用45#优质碳素钢高线盘条的研究开发

介绍柳钢研发拉丝制绳用45#高速线材盘条的冶炼、轧制生产主要工艺。     

发动机活塞连杆拧紧的自动化工艺设计

说明了发动机装配线活塞连杆拧紧的自动化工艺设计的原由,详细介绍了改造后的自动拧紧设备的构造及特点,描述了具体的工作过程。活塞连杆的拧紧由之前的人工用双轴拧紧枪拧紧改为全自动的4轴拧紧设备,自动切换不同机型的拧紧程序,拧紧过程中依靠设备保证其拧紧的平稳性,有效地消除了因人工操作而导致的质量隐患,同时对螺栓的角度进行了监控,起到了监控螺栓拉伸的作用,提高了拧紧效率及在线质量控制能力。     

φ48mm的35MnBM棒材自动超声检测方法应用

介绍了35MnBM棒材自动超声检测方法,并对影响检测结果的因素进行了分析,提出了解决办法,取得了很好效果,说明了该超声检测系统应用的可靠性.     

Direct and inverse problems on nonlinear rods

In this paper a class of models on nonlinear rods, which includes spatial inhomogeneities, varying cross-sectional area and arbitrary memory functions, is considered. The wave splitting technique is applied to provide a formulation suitable for numerical computation of direct and inverse problems. Due to the nonlinearity of the material, there are no well defined characteristics other than the leading edge, so the method of characteristics, highly successful in the computation of linear wave splitting problems, is abandoned. A standard finite difference method is employed for the direct problem, and a shooting method is introduced for the inverse problem. The feasibility of the inverse algorithm is presented in various numerical examples.     

硬线“黑点”的分析及处理

二高线在生产45#、60#、70#硬线吐丝时有黑点现象,成品拉拔时在黑点处拉断。分析其成因,介绍改进措施及其效果。     

抽油机井地面损失功率计算方法的研究与认识

有杆泵抽油系统地面能量损耗由抽油机损耗和电机损耗两大部分构成,造成各井地面效率差别的原因在于各井的光杆功率与传输功率比例差别。据此推算得到的抽油机井地面功率损失计算公式,计算值与实测值吻合较好。     

有杆抽油设备运行效率分析及提高效率的途径

机械传动效率低、井下管柱磨擦损耗等是造成游梁平衡式抽油设备运行效率不高的主要因素。通过降低抽油机冲次、加大冲程等简单易行的措施,优化抽油机运行参数,对提高其运行效率有一定的效果。