坐标式焊接机器人焊枪悬臂运动分析

文章从分析坐标式焊接机器人焊枪悬臂运动过程中的振动出发,介绍了模态分析基本理论.在ADAMS中引入ANSYS生成的模态中性文件和SolidWorks建立的装配体,构建了机械系统分析模型,对模型进行仿真运算,仿真结果验证了坐标式焊接机器人方案的可行性.     

汽车车身焊接机器人自动线工艺设计方法

介绍了用于汽车制造业焊装领域的机器人点焊系统,包括系统构成和设备选型;根据本人在生产准备过程中的经验,重点对设备选型作了详细的介绍.     

吊链式抛丸清理机装卸工件的研究

介绍了几种吊链式抛丸清理机的特点,针对目前人工装卸工件现状,研发了6自由度关节机器人、滚珠丝杠移动工作台和工件测量定位系统等,保持机器人与吊链同步移动,机器人底座相对吊链静止时悬挂工件,避免了工件与吊钩发生碰撞或干涉现象.     

基于PD/PS的机器人涂胶工位仿真研究

分析了在Tecnomatix环境中利用Process Designer(以下简称PD)和Process Simulate(以下简称PS)完成一个集机器人和自动设备规划及验证为一体的机器人涂胶工位模拟案例.介绍从最初的机器人工位设计到相配套的涂胶设备和钢结构水电管道的布局验证,各种设备及白车身数据的处理、模拟与PLC信号通讯,最后对比真实工作环境下的涂胶效果与模拟结果的差异并提出合理的优化意见.     

机器人自动焊接工作站设计与应用

基于建筑钢结构角柱焊接生产要求,设计了双机器人双工位弧焊工作站。介绍了双机器人双工位焊接工作站的设备组成、布局及设备品牌配置以及机器人工作站控制系统设计及主要设备。该设计思路及经验对机器人工作站及其自动化生产线设计与应用具有一定的参考和借鉴作用。     

自治式水下监测机器人的动态性能分析

文章介绍了两种自治式水下监测机器人:垂直运动水下机器人和滑翔运动水下机器人,讨论了它们各自的特点与工作方式.结合水下监测机器人的试验模型,该文对其沉浮阶段的运动过程进行了动力学分析,讨论了它们在垂直剖面上的运动情况,推导了动力学方程.这些对于确定水下监测机器人的各项参数和设计控制器与观测器具有重要的指导价值.     

基于机器视觉的手机镜头机器人装配应用研究

介绍了机器视觉在导引手机镜头(由LENS、BARREL部件构成)机器人装配中的应用,采用直角坐标型机器人设计成手机镜头机器人装配设备,进行手机镜头同一对位置下的镜头装配实验,获取手机镜头LENS、BARREL部件在各个位置下的图像,通过模板匹配的方法确定部件的坐标值,导引手机镜头机器人装配.实验表明:机器视觉方法具有实时、在线、非接触、重复误差小、精度高、自动化等特有的优点,在机器人装配中具有较好的应用前景;设计出手机镜头机器人装配设备已经成功运用于某公司,各项性能、效果良好,均满足客户要求.     

基于轨迹编程的示教式焊接机器人控制技术

研究了基于PC 运动控制卡控制模式的焊接机器人控制系统,介绍了系统的体系结构.根据焊接机器人自身特点和焊接工艺要求,提出了基于轨迹编程的示教式编程方法,详细地介绍了轨迹规划过程中所涉及到的空间圆弧插补算法,阐述了示教再现的实现过程.最后运用了模块化编程思想,用C Builder6.0高级语言编写了示教编程软件,并解释了各功能模块的主要作用.该技术增进了机器人编程的可操作性和直观性,从而有利于焊接机器人在实际生产中的应用与推广.     

自主式管道清淤机器人的研究

提出了一种自主式管道清淤机器人,介绍了该机器人的工作原理及各组成部分的结构和功能。该机器人采用轮式行走机构和同步带传动机构,蓄电池供电和电机驱动,无线通讯和PLC控制。自主式管道清淤机器人的研究提高了排水管道清淤的效率和管道清淤作业的自动化水平。     

水轮机自动化检修设备研究现状

介绍了国内外水轮机自动化检修设备的研究和应用现状,叙述了当前存在的问题和发展方向,在此基础上提出了新一代水轮机自动化检修设备的技术功能要求,最后介绍了水轮机坑内修复机器人关键技术的研究进展和前景展望.     

PAG淬火介质在齿轮渗碳淬火中的应用

本文通过对20CrMnMo和20CrNiMo齿轮和齿轴渗碳后采用新型淬火介质淬火,获得了很好的回火组织和力学性能。与普通的淬火油淬火相比,采用14%~16%浓度的PAG淬火处理后齿轮和齿轴的强度、冲击韧性均有很大程度提高,金相组织更均匀,淬透性也有较大幅度提高。     

The Effect of Hardenability Variation on Phase Transformation of Spiral Bevel Gear in Quenching Process

The hardenability of gear steel is dependent on the composition of alloying elements and is one of important criteria to assess process of phase transformation. The variation of hardenability has to be considered in control of the microstructures and distortion during gear quenching. In this paper, the quantitative effect of hardenability has been investigated on phase transformations of spiral bevel gears in die quenching. The hardenability deviation of 22CrMoH steel was assessed by using Jominy test. The dilatometry experiments were conducted to build phase transformation kinetic models for steels with low and high hardenability, respectively. The complete die quenching process of spiral bevel gear was modeled to reveal the significant difference on microstructures and temperature history with variation of hardenability. The final microstructures of the gear are martensite in surface layer after quenching process. There are bainite inside the gear tooth and the mixture of bainite and ferrite inside gear for the gear with low hardenability. The microstructure is bainite inside the gear with high hardenability.     

提高线材厂FJ320减速机齿轮使用寿命的技改措施

针对线材厂FJ320减速机高速齿经常出现磨损、断齿等现象，采取将齿轮材质改为20CrNiMo4A、高频淬火改为表面渗碳淬火等措施，提高了齿轮使用寿命。     

18CrNiMo7-6钢齿轮热处理后开裂失效分析

一批在生产加工后进行了淬火和低温回火的齿轮在库房存放过程中发生开裂。通过超声波探伤、金相检验、化学成分分析、硬度测试、断口形貌观察、端淬试验和补充热处理等手段,对齿轮开裂原因进行了分析。结果表明,开裂齿轮强度高导致氢脆敏感性高,在次表面产生氢致延迟裂纹是引起齿轮快速脆性开裂的直接原因。开裂齿轮淬硬性和淬透性过高,超出了BS EN 10084-2008对18CrNiMo7-6+HH钢淬透性要求,是齿轮开裂的根本原因;通过调整淬火介质,降低淬火时高温区冷速,从而降低淬回火后齿轮的强度和硬度,可有效避免开裂。     

Modeling and Analysis of Deformation for Spiral Bevel Gear in Die Quenching Based on the Hardenability Variation

Spiral bevel gears are widely used to transmit energy between intersecting axes. The strength and fatigue life of the gears are improved by carburizing and quenching. A die quenching process is used to control the deformation of the gear. The deformation is determined by the variations in the hardenability for a certain die quenching process. The relationship between hardenability, phase transformation and deformation needs to be studied to minimize deformation during the adjustment of the die quenching process parameters. In this paper, material properties for 22CrMoH steel are determined by the results of Jominy tests, dilatometry experiments and static mechanical property tests. The material models were built based on testing results under the consideration of hardenability variation. An finite element analysis model was developed to couple the phase transformation and deformation history of the complete carburizing and die quenching process for the spiral bevel gears. The final microstructures in the gear were bainite for low hardenability steel and a mixture of bainite and ferrite for high hardenability steel. The largest buckling deformation at the gear bottom surface is 0.375 mm at the outer circle for the low hardenability gear and 0.091 mm at the inner circle for the high hardenability gear.     

汽车同步器齿套的变形分析与对策

汽车同步器齿套在渗碳淬火后，发生变形，一般采用压淬整形等使同步器套失圆度减小，内花键尺寸稳定。本文着重分析了同步器齿套发生变形的原因及整形方法。通过实验验证了淬火时不均匀冷却是导致同步器齿套变形的主要原因，也是解决齿套变形的重要途径。     

Evaluation of Important Factors Affecting Quench Distortion of Carburized Hypoid Gear with Shaft by Using Computer Simulation Methods

To minimize quenching distortion and dispersion, carburizing and quenching process conditions must be optimized; this includes the parts racking design used for quenching. We investigated some factors affecting carburized quenching distortion with an experiment using a hypoid gear having a shaft and with numerical simulation methods. The experimental results and those obtained from simulation were generally in agreement. Focusing on the surface temperature distribution in the gear, we studied quenching distortion characteristics in terms of changes in tooth profile and helix deviation. In our experiments, distortions occur during quenching in 373 K oil after austenitized temperature treatments conducted with various attitudes. We calculated the distortions by simulating the carburized oil-quenching process for the hypoid gear. Our results show large differences between the cooling rates of the tooth toe, middle section, and heel edges,and these greatly influence the change in tooth profile and helix deviation. We found that reducing the differences in temperatures on the gear surfaces during quenching is most important for minimizing the quench distortion of the hypoid gear.     

大型渗碳齿轮的差温淬火工艺

研究了碳件的淬火工艺.在淬火条件不变的情况下,提出了足大型渗碳齿轮淬火要求的工艺,满足了生产需要.     

20CrMnTi钢齿轮渗碳淬火开裂原因分析

分析了经渗碳淬火后出现开裂的20CrMnTi钢齿轮的化学成分和组织,详细分析了渗碳后冷却过程中各阶段齿轮温度的变化。结果表明,该20CrMnTi钢齿轮出现淬火开裂主要是淬火过程中产生巨大的热应力所造成的,产生热应力的根本原因是齿轮内外部温度严重不均匀。根据研究结果制定了改进措施。     

基于多场耦合模拟的齿毂高压气淬工艺设计

针对20CrMnTi齿毂高压气淬工艺设计的需求,建立了一套流场-温度场-组织场-应力应变场耦合模拟体系,能够实现对淬火气流与工件的同步耦合计算。利用该体系模拟了不同淬火气压和进气方式下的齿毂高压气淬过程,分析了不同工艺方案下齿毂的组织成分、硬度以及畸变,确定了2.0 MPa、下方单向进气的工艺方案,模拟结果满足齿毂性能要求。