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坐标式焊接机器人焊枪悬臂运动分析 总被引:2,自引:0,他引:2
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. 相似文献
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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。 相似文献
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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. 相似文献
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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. 相似文献
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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. 相似文献
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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。 相似文献
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Yingtao Zhang Wankai Shi Lin Yang Zhifei Gu Zhichao Li 《Journal of Materials Engineering and Performance》2016,25(7):2727-2735
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. 相似文献
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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。 相似文献
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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。 相似文献
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Yingtao Zhang Gang Wang Wankai Shi Lin Yang Zhichao Li 《Journal of Materials Engineering and Performance》2017,26(7):3034-3047
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. 相似文献
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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。 相似文献
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Evaluation of Important Factors Affecting Quench Distortion of Carburized Hypoid Gear with Shaft by Using Computer Simulation Methods 总被引:1,自引:0,他引:1
TsuyoshiSugimoto YouichiWatanabe 《材料热处理学报》2004,25(5):480-485
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. 相似文献
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