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無錫太湖學院 畢 業(yè) 設(shè) 計 （ 論 文 ） 題目：管道除塵機器人結(jié)構(gòu)設(shè)計 信 機 系 機 械 工 程 及 自 動 化 專 業(yè) 學 號： 0923825 學生姓名： 趙金輝 指導教師： 鮑虹蘇（職稱：副教授） （職稱： ） 2013 年 5 月 25 日 無錫太湖學院本科畢業(yè)設(shè)計（論文） 誠 信 承 諾 書 本人鄭重聲明：所呈交的畢業(yè)設(shè)計（論文） 管道除塵機器人結(jié)構(gòu) 設(shè)計 是本人在導師的指導下獨立進行研究所取得的成果，其內(nèi)容除 了在畢業(yè)設(shè)計（論文）中特別加以標注引用，表示致謝的內(nèi)容外，本畢 業(yè)設(shè)計（論文） 不包含任何其他個人、集體已發(fā)表或撰寫的成果作品。 班 級： 機械 97 學 號： 0923825 作者姓名： 2013 年 5 月 25 日 無 錫 太 湖 學 院 信 機 系 機 械 工 程 及 自 動 化 專 業(yè) 畢 業(yè) 設(shè) 計 論 文 任 務(wù) 書 一、題目及專題： 1、題目 管道除塵機器人結(jié)構(gòu)設(shè)計的研究 2、專題 二、課題來源及選題依據(jù) 1) 該課題為企業(yè)生產(chǎn)實際，目前，我國燃煤電廠輸灰管道的除垢方 法基本上可分為化學法和物理法。經(jīng)實踐應(yīng)用，上述方法均存在一定局 限性，不能同時符合環(huán)保及技術(shù)性、經(jīng)濟性要求，多數(shù)不被電廠接受。 目前常用的是化學清洗法和人工振擊法。但這兩種方法也各有缺點。 2) 本課題就是針對這一現(xiàn)狀，對輸灰管道清灰機器人進行初步探討， 以期能達到清潔環(huán)保等功能，完成該課題可對我們大學期間所學知識進 行一次全面的專業(yè)訓練，可以培養(yǎng)我們掌握如何運用過去所學知識去解 決生產(chǎn)中實際問題的方法，增強從事本專業(yè)實際工作所必需的基本能力 和開發(fā)研究能力，可以提高我們的專業(yè)素質(zhì)，為今后走上工作崗位打下 一個良好的基礎(chǔ)。 三、 本設(shè)計（論文或其他）應(yīng)達到的要求： I 1、能正確合理分析產(chǎn)品設(shè)計的具體要求和產(chǎn)品的功能實現(xiàn)； 2、能合理根據(jù)產(chǎn)品的設(shè)計要求擬定多種解決方案，并進行多方案 優(yōu)化分析設(shè)計； 3、合理選擇和設(shè)計部件的傳動方案，并能進行一些必要的設(shè)計計 算； 4、正確選擇零部件中各零件，并能進行一定的校核計算和優(yōu)化設(shè) 計； 5、繪制機器人行走部件裝配圖； 6、設(shè)計繪制零件工作圖若干； 7、編制設(shè)計計算說明書 1 份； 四、接受任務(wù)學生： 機 械 97 班 姓名 趙 金 輝 五、開始及完成日期： 自 2012 年 11 月 7 日 至 2013 年 5 月 25 日 六、設(shè)計（論文）指導（或顧問）： 指導教師 簽名 簽名 簽名 教 研 室 主 任 〔學科組組長研究所所長〕 簽名 II 系主任 簽名 2012 年 11 月 12 日 摘 要 基于利用行星磨頭清洗技術(shù)對管道進行清洗的目的，在總結(jié)現(xiàn)有的管道機器人設(shè)計 方案的基礎(chǔ)上，根據(jù)現(xiàn)場的實際情況，論文首先對管道清洗機器人行走部分進行方案設(shè) 計，經(jīng)分析比較后確定了新型管道清洗機器人行走的較佳設(shè)計方案，并據(jù)此方案對機器 人作了行走部分結(jié)構(gòu)設(shè)計;對機器人的行走特性進行了研究，提出了使機器人在管道內(nèi)能 夠保持穩(wěn)定運行的方法.通過對機器人機構(gòu)的設(shè)計和機器人在直管道內(nèi)運動情況的思考研 究，進一步驗證了設(shè)計思想的可行性。 最后，研究了管道清洗機器人行走系統(tǒng)的安全性能，給出了在高壓情況下保證行走 系統(tǒng)安全的基本方案，為管道清洗機器人系統(tǒng)的實用化提供可靠的依據(jù)。 關(guān)鍵詞: 管道機器人；安全防護 ；行走 III Abstract Based on the use of planetary grinding head cleaning technology for the purpose of cleaning pipes, at the conclusion of the existing pipeline robot design based on the actual situation at the scene, the first paper on the pipe cleaning robot to walk part of program design, by analysis and comparison a new pipeline after cleaning robot designed to walk a better program, and accordingly the program made a walk on part of the structure of robot design; characteristics of walking robots have been studied and put forward in the pipeline so that the robot was able to remain stable The method of operation. By the design of the robot body and the robot movement in the straight tube case study of thinking, and further verify the feasibility of the design idea. Finally, the research pipeline cleaning robot running the safety of the system performance, given the high-pressure circumstances to ensure that the basic operating system security program, for pipe cleaning robot system of the utility to provide a reliable basis. Key words: pipe robot; security; walk IV 目錄 摘 要 ...........................................................................................................................................III ABSTRACT ..................................................................................................................................IV 緒論 .................................................................................................................................................1 1 概述 .............................................................................................................................................2 1.1 管道清洗機器人常見問題分析 ...........................................................................................2 1.2 除垢機器人理念 ...................................................................................................................2 1.3 基本設(shè)計任務(wù) .......................................................................................................................3 1.4 畢業(yè)設(shè)計的目的 ....................................................................................................................3 2.1 管道射流清洗機器人的本體設(shè)計 .......................................................................................4 2.1.1 移動方式選擇 ................................................................................................................4 2.1.2 傳動方案的選擇 ............................................................................................................4 2.2 管道清洗機器人變管徑自適應(yīng)性方案設(shè)計 .......................................................................6 2.3 動力系統(tǒng)的設(shè)計計算 ...........................................................................................................9 2.3.1 管道機器人行駛 阻力分析 ............................................................................................9 2.3.2 減速器的選擇 ..............................................................................................................12 2.4 機器人的速度和驅(qū)動能力校核 .........................................................................................13 2.4.1 運動速度校核 ..............................................................................................................13 2.4.2 驅(qū)動能力校核 ..............................................................................................................13 3 鏈輪傳動的設(shè)計計算 ...............................................................................................................14 3.1 鏈輪設(shè)計的初始條件 .........................................................................................................15 3.2 鏈輪計算結(jié)果 ....................................................................................................................15 3.3 歷史結(jié)果 ..............................................................................................................................16 4 蝸輪蝸桿的設(shè)計計算 ...............................................................................................................18 4.1 蝸輪蝸桿基本參數(shù)設(shè)計 ....................................................................................................18 4.1.1 普通蝸桿設(shè)計輸入?yún)?shù) ..............................................................................................18 4.1.2 材料及熱處理 ..............................................................................................................19 4.1.3 蝸桿蝸輪基本參數(shù) ......................................................................................................20 4.1.4 蝸蝸輪精度 ..................................................................................................................21 4.1.5 強度剛度校核結(jié)果和參數(shù) ..........................................................................................22 4.1.6 自然通風散熱計算 ......................................................................................................22 4.2 蝸桿軸的結(jié)構(gòu)設(shè)計 .................................................................................................................23 4.2.1 軸的強度較核計算 ......................................................................................................23 4.2.2 軸的結(jié)構(gòu)設(shè)計 ..............................................................................................................24 4.2.3 鍵的校核 ......................................................................................................................25 5 彈簧的設(shè)計計算 .......................................................................................................................25 I 6 安全性能 ...................................................................................................................................26 結(jié)論 ...............................................................................................................................................27 參考文獻 .......................................................................................................................................28 致謝 ...............................................................................................................................................30 0 緒論 1.1 本課題研究的內(nèi)容和意義 用于石油、天然氣乃至民用上下水等管道在傳輸液、氣體過程中，因溫度、壓力不 同及介質(zhì)與管道之間的物理化學作用，常常會高溫結(jié)焦，生成油垢、水垢，存留沉積物， 腐蝕物等，使有效傳輸管徑減少，效率下降，物耗、能耗增加，工藝流程中斷，設(shè)備失 效，發(fā)生安全事故。盡管通過添加化學劑，采用合理的工藝參數(shù)，進行水質(zhì)處理措施可 以在一定程度上改善這些情況，但要完全避免污垢的產(chǎn)生是不可能的。我國的管道清洗 行業(yè)長期以來 80%采用的是化學方法以及手工清洗和機械清洗方法，成本高、效率低、 污染環(huán)境等，遠遠不能滿足現(xiàn)代社會日益增長的要求。探索和開發(fā)高效的清洗方法成為 工業(yè)生產(chǎn)和人民生活的不可或缺的環(huán)節(jié)。 利用行星磨頭清洗是一種新的清洗方法。與化學清洗及手工、機械清洗相比，具有 清洗質(zhì)量好、效率高、適應(yīng)性強、成本低等一系列優(yōu)點，可達到返舊還新的效果。作為 一種清潔、高效、對環(huán)境無污染的清洗技術(shù)，具有可觀的經(jīng)濟和社會效益。 1.2 國內(nèi)外發(fā)展狀況 目前在管道清洗過程中，清洗設(shè)備絕大部分是采用無動力纜繩拖拉行走方式來進行 清洗，無法根據(jù)管道的內(nèi)部情況進行清洗參數(shù)的動態(tài)調(diào)整，管徑的適應(yīng)能力較差。為了 解決這個問題，著眼于管道行走清洗機器人的研究開發(fā)，而在國內(nèi)這方面研究尚少。為 了較好地解決管道(束) 的清洗難題，開發(fā)和研制管道清洗機器人勢在必行。我們設(shè)計管道 清洗機器人是把行星磨頭清洗技術(shù)與機器人技術(shù)結(jié)合起來，進行綜合設(shè)計開發(fā)，因此它 的深入研究也將推動管道清洗技術(shù)的發(fā)展。 1.3 本課題應(yīng)達到的要求 作為高壓水和化學清洗的有效補充手段，行走式管路清洗方法具有一定的獨特性： 如成本低廉、安全性好、無任何環(huán)境污染、水電消耗非常小。尤其是在化學清洗和高壓 水清洗方法無法應(yīng)用或成本不允許的情況下,利用除垢機器人清洗能夠發(fā)揮獨特的作用,并 取得良好的效果。 我們采用的是壓縮空氣噴洗機器人。除垢機器人的首要要解決的問題就是行走問題， 怎樣使機器人在管道中行走是除垢機器人能否成功完成的重要環(huán)節(jié)之一。目前管內(nèi)機器 人的驅(qū)動方式有自驅(qū)動 (自帶動力源)、利用流體推力、通過彈性桿外加推力三種方式。 根據(jù)輸灰管道和回水管道內(nèi)的實際情況，管道除垢機器人宜采用 自驅(qū)動方式。采用雙步 進電機驅(qū)動，通過諧波減速器將動力傳遞給行走裝置。盡管自驅(qū)動管內(nèi)機器人行走可以 采用的輪式、腳式爬行式、蠕動式，履帶式等多種形式，但因管道內(nèi)有灰、灰垢和其他 雜物，環(huán)境惡劣，附著能力差采用履帶式方式比較合適，可以增大行走機構(gòu)和管道內(nèi)表 面的接觸面積，提高行走時機器人的附著能力 。 存檔編碼： 無錫太湖學院 2009 屆畢業(yè)作業(yè)周次進度計劃、檢查落實表 系別：信機系 班級： 機械97 學生姓名： 趙金輝 課題（設(shè)計）名稱： 管道機器人除塵結(jié)構(gòu)設(shè)計 開始日期：2012年11月12日 周 次 起止日期 工作計劃、進度 每周主要完成內(nèi)容 存在問題、改進方法 指導教師意見并簽字 備 注 1-3 2012年11月12日-2012年12月 2日 老師下達畢業(yè)設(shè)計任務(wù)，學生初步閱讀資料，完成畢業(yè)設(shè)計開題報告。 按照任務(wù)書要求查閱論文相關(guān)參考資料，填寫畢業(yè)設(shè)計開題報告書 所學知識有限，只能完成一些零碎的東西,詢問指導老師 4-10 2012年12月3日-2013年1月20日 指導專業(yè)實訓 通過實習了解熟悉部門的工作情況 經(jīng)驗的不足，需要時間的積累和與人的溝通 11-12 2013年1月21日-3月1日 指導畢業(yè)實習 和指導老師的交流完成畢業(yè)實習報告 對相關(guān)課題的了解不深，需查閱相關(guān)資料 13 2013年3月4日-3月8日 機器人傳動移動方式的確定 分析產(chǎn)品圖、分析結(jié)構(gòu)，優(yōu)選確定設(shè)計方案 存在問題：缺乏實際操作經(jīng)驗，制定的設(shè)計方案不合理。 改進方法：多去咨詢老師了解實際生產(chǎn)過程，重新確立合理 的設(shè)計方案。 14 2013年3月11日-3月15日 設(shè)計方案分析與計算 確定設(shè)計結(jié)構(gòu)，計算所需各種尺寸 存在問題：結(jié)構(gòu)設(shè)計不合理，尺寸計算有誤差，對立式袋裝 機縱封裝置不是很清楚 改進方法：查閱多種參考資料，改進設(shè)計結(jié)構(gòu)，提高計算正 確率。 15 2013年3月18日-3月22日 動力系統(tǒng)的設(shè)計 查看相關(guān)資料，對系統(tǒng)粗步了解 存在問題：對整理搜集信息方面還是有所欠缺，盲目搜索。改進方法：查閱資料時要分類，多多請教老師 16 2013年3月25日-3月29日 減速器的選擇 查看資料，選擇合適的減速器 存在問題：對機器人的分析不夠改進方法：對機器人的原理繼續(xù)分析，選擇合理的減速器 17 2013年4月1日-4月5日 機器人速度和驅(qū)動能力校核 查閱相關(guān)資料，計算選擇出合理的參數(shù)和相關(guān)的尺寸 有些細節(jié)方面不懂的地方，需向老師請教 18 2013年4月8日-4月12日 鏈輪傳動的設(shè)計計算 查閱相關(guān)資料鏈輪傳動的計算 有些細節(jié)方面不懂的地方，需向老師請教 周 次 起止日期 工作計劃、進度 每周主要完成內(nèi)容 存在問題、改進方法 指導教師意見并簽字 備 注 19 2013年4月15日-4月19日 渦輪蝸桿的結(jié)構(gòu)設(shè)計 查看相關(guān)資料，并繪出渦輪蝸桿的相關(guān)資料 有些細節(jié)方面不懂的地方，還需向老師請教 20 2013年4月22日-4月26日 繪制零件圖，及裝配圖 根據(jù)最終確定尺寸繪制CAD零件圖 請老師檢查圖紙，修改細節(jié)問題 21 2013年4月29日-5月3日 說明書、摘要、小結(jié) 繪制裝置零件圖，不少于6個 存在問題：零件圖的表達方案不合理，尺寸不符合實際需要 ，技術(shù)要求不規(guī)范。 改進方法：修改零件圖的表達方案，完善尺寸標注和技術(shù)要 求。 22 2013年5月6日-5月10日 檢查、指導設(shè)計說明書、摘要和小結(jié)編寫 完成設(shè)計說明書、摘要和小結(jié) 存在問題：零件圖的表達方案不合理，尺寸不符合實際需要 ，技術(shù)要求不規(guī)范。 改進方法：修改零件圖的表達方案，完善尺寸標注和技術(shù)要 求。 23 2013年5月13日-5月17日 檢查、指導設(shè)計說明書、摘要和小結(jié)編寫 完成設(shè)計說明書、摘要和小結(jié) 存在問題：零件圖的表達方案不合理，尺寸不符合實際需要 ，技術(shù)要求不規(guī)范。 改進方法：修改零件圖的表達方案，完善尺寸標注和技術(shù)要 求。 24 2013年5月20日-5月25日 修改論文格式 通過老師檢查發(fā)現(xiàn)格式不正確之處回去修改 按照學校給的樣板自習修改格式 說明： 1、“工作計劃、進度”、“指導教師意見并簽字”由指導教師填寫，“每周主要完成內(nèi)容”，“存在問題、改進方法”由學生填寫。 2、本表由各系妥善歸檔，保存?zhèn)洳椤?編號
無錫太湖學院
畢業(yè)設(shè)計（論文）
相關(guān)資料
題目： 管道除塵機器人行星結(jié)構(gòu)設(shè)計
信機 系 機械工程及自動化專業(yè)
學 號： 0923825
學生姓名： 趙金輝
指導教師： 鮑虹蘇 （職稱：高工）
（職稱： ）
2013年5月25日
目 錄
一、畢業(yè)設(shè)計（論文）開題報告
二、畢業(yè)設(shè)計（論文）外文資料翻譯及原文
三、學生“畢業(yè)論文（論文）計劃、進度、檢查及落實表”
四、實習鑒定表
無錫太湖學院
畢業(yè)設(shè)計（論文）
開題報告
題目： 管道除塵機器人行星結(jié)構(gòu)設(shè)計
信機 系 機械工程及自動化 專業(yè)
學 號： 0923835
學生姓名： 趙金輝
指導教師： 鮑虹蘇 （職稱：高工 ）
（職稱： ）
2012年11月14日
課題來源
某企業(yè)生產(chǎn)實際
科學依據(jù)（包括課題的科學意義；國內(nèi)外研究概況、水平和發(fā)展趨勢；應(yīng)用前景等）
目前，我國燃煤電廠輸灰管道的除垢方法基本上可分為化學法和物理法。經(jīng)實踐應(yīng)用，上述方法均存在一定局限性，不能同時符合環(huán)保及技術(shù)性、經(jīng)濟性要求，多數(shù)不被電廠接受。目前常用的是化學清洗法和人工振擊法。但這兩種方法也各有缺點。
本課題就是針對這一現(xiàn)狀，對輸灰管道清灰機器人進行初步探討，以期能達到清潔環(huán)保等功能，完成該課題可對我們大學期間所學知識進行一次全面的專業(yè)訓練，可以培養(yǎng)我們掌握如何運用過去所學知識去解決生產(chǎn)中實際問題的方法，增強從事本專業(yè)實際工作所必需的基本能力和開發(fā)研究能力，可以提高我們的專業(yè)素質(zhì)，為今后走上工作崗位打下一個良好的基礎(chǔ)。
研究內(nèi)容
除垢機器人的首先要解決的問題就是行走問題，怎樣使機器人在管道中行走是除垢機器人能否成功完成的重要環(huán)節(jié)之一。
管道除垢機器人宜采用自驅(qū)動方式。并采用履帶式方式比較合適，可以增大行走機構(gòu)和管道內(nèi)表面的接觸面積，提高行走時機器人的附著能力 。
本課題就是針對這一結(jié)構(gòu)進行初步的設(shè)計。
擬采取的研究方法、技術(shù)路線、實驗方案及可行性分析
在畢業(yè)實習調(diào)研以及查閱有關(guān)資料的基礎(chǔ)上，擬定清洗機器人行走部件結(jié)構(gòu)設(shè)計的最初方案，通過與指導老師協(xié)商討論方案的可行性，并確定最終設(shè)計方案，并完成相關(guān)的設(shè)計計算及相應(yīng)的設(shè)計圖紙。
研究計劃及預期成果
通過現(xiàn)場調(diào)研、模擬、建模、實驗和機器調(diào)試，根據(jù)最初擬定的清洗機器人行走部件結(jié)構(gòu)設(shè)計的方案，設(shè)計出具有一定清灰功能的清洗機器人，合理確定清灰機器人的驅(qū)動方式及行走形式，并選用最佳的設(shè)計方案，達到清灰功能。
特色或創(chuàng)新之處
適用于煤電廠管道清灰的優(yōu)化設(shè)計，力求在清潔環(huán)保的前提下最大限度的減少企業(yè)成本，并降低工人的勞動強度和生產(chǎn)成本。
已具備的條件和尚需解決的問題
針對實際煤電企業(yè)管道清灰存在的問題，綜合所學的機械理論設(shè)計、方法及工藝裝備，探索和開發(fā)高效的清洗方法，將行星磨頭清洗技術(shù)與機器人技術(shù)結(jié)合起來，進行綜合設(shè)計開發(fā)管道清洗機器人，進而提升學生開發(fā)和創(chuàng)新機械產(chǎn)品的能力。
指導教師意見
指導教師簽名：
年 月 日
教研室（學科組、研究所）意見
教研室主任簽名：
年 月 日
系意見
主管領(lǐng)導簽名：
年 月 日
Numerical control technology and equipping development trend and countermeasure
Numerical control technology is the technology controlled to mechanical movement and working course with digital information, integrated products of electro mechanics that the numerical control equipment is the new technology represented by numerical control technology forms to the manufacture industry of the tradition and infiltration of the new developing manufacturing industry, namely the so-called digitization is equipped, its technological range covers a lot of fields: (1)Mechanical manufacturing technology; (2)Information processing , processing , transmission technology; (3)Automatic control technology; (4)Servo drive technology; (5)Technology of the sensor ; (6)Software engineering ,etc..
Development trend of a numerical control technology
The application of numerical control technology has not only brought the revolutionary change to manufacturing industry of the tradition, make the manufacturing industry become the industrialized symbol , and with the constant development of numerical control technology and enlargement of the application, the development of some important trades (IT , automobile , light industry , medical treatment ,etc. ) to the national economy and the people's livelihood of his plays a more and more important role, because the digitization that these trades needed to equip has already been the main trend of modern development. Numerical control technology in the world at present and equipping the development trend to see, there is the following several respect [1- ] in its main research focus .
1.A high-speed , high finish machining technology and new trend equipped
The efficiency , quality are sub-manufacturing technology. High-speed , high finish machining technology can raise the efficiency greatly , improve the quality and grade of the products, shorten production cycle and improve the market competitive power. Japan carries the technological research association first to classify it as one of the 5 great modern manufacturing technologies for this, learn (CIRP ) to confirm it as the centre in the 21st century and study one of the directions in international production engineering.
In the field of car industry, produce one second when beat such as production of 300,000 / vehicle per year, and many variety process it is car that equip key problem that must be solved one of; In the fields of aviation and aerospace industry, spare parts of its processing are mostly the thin wall and thin muscle, rigidity is very bad, the material is aluminium or aluminium alloy, only in a situation that cut the speed and cut strength very small high, could process these muscles , walls . Adopt large-scale whole aluminium alloy method that blank " pay empty " make the wing recently, such large-scale parts as the fuselage ,etc. come to substitute a lot of parts to assemble through numerous rivet , screw and other connection way, make the intensity , rigidity and dependability of the component improved. All these, to processing and equiping the demand which has proposed high-speed , high precise and high flexibility.
According to EMO2001 exhibition situation, high-speed machining center is it give speed can reach 80m/min is even high , air transport competent speed can up to 100m/min to be about to enter. A lot of automobile factories in the world at present, including Shanghai General Motors Corporation of our country, have already adopted and substituted and made the lathe up with the production line part that the high-speed machining center makes up . HyperMach lathe of U.S.A. CINCINNATI Company enters to nearly biggest 60m/min of speed, it is 100m/min to be fast, the acceleration reaches 2g, the rotational speed of the main shaft has already reached 60 000r/min. Processing a thin wall of plane parts, spend 30min only, and same part general at a high speed milling machine process and take 3h, the ordinary milling machine is being processed to need 8h; The speed and acceleration of main shaft of dual main shaft lathes of Germany DMG Company are up to 12* separately! 000r/mm and 1g.
In machining accuracy, the past 10 years, ordinary progression accuse of machining accuracy of lathe bring 5|ìm up to from 10|ìm already, accurate grades of machining center from 3- 5|ìm, rise to 1- 1.5|ìm, and ultraprecision machining accuracy is it enter nanometer grade to begin already (0.01|ìm).
In dependability, MTBF value of the foreign numerical control device has already reached above 6 000h, MTBF value of the servo system reaches above 30000h, demonstrate very high dependability .
In order to realize high-speed , high finish machining, if the part of function related to it is electric main shaft , straight line electrical machinery get fast development, the application is expanded further.
1.2 Link and process and compound to process the fast development of the lathe in 5 axes
Adopt 5 axles to link the processing of the three-dimensional curved surface part, can cut with the best geometry form of the cutter , not only highly polished, but also efficiency improves by a large margin . It is generally acknowledged , the efficiency of an 5 axle gear beds can equal 2 3 axle gear beds , is it wait for to use the cubic nitrogen boron the milling cutter of ultra hard material is milled and pared at a high speed while quenching the hard steel part, 5 axles link and process 3 constant axles to link and process and give play to higher benefit. Because such reasons as complicated that 5 axles link the numerical control system , host computer structure that but go over, it is several times higher that its price links the numerical control lathe than 3 axles , in addition the technological degree of difficulty of programming is relatively great, have restricted the development of 5 axle gear beds.
At present because of electric appearance of main shaft, is it realize 5 axle complex main shaft hair structure processed to link greatly simplify to make, it makes degree of difficulty and reducing by a large margin of the cost, the price disparity of the numerical control system shrinks . So promoted 5 axle gear beds of head 無效 of complex main shaft and compound to process the development of the lathe (process the lathe including 5 ).
At EMO2001 exhibition, new Japanese 5 of worker machine process lathe adopt complex main shaft hair, can realize the processing of 4 vertical planes and processing of the wanton angle , make 5 times process and 5 axles are processed and can be realized on the same lathe, can also realize the inclined plane and pour the processing of the hole of awls . Germany DMG Company exhibits the DMUVoution series machining center, but put and insert and put processing and 5 axles 5 times to link and process in once, can be controlled by CNC system or CAD/CAM is controlled directly or indirectly.
1.3 Become the main trend of systematic development of contemporary numerical control intelligently , openly , networkedlily
The numerical control equipment in the 21st century will be sure the intelligent system, the intelligent content includes all respects in the numerical control system: It is intelligent in order to pursue the efficiency of processing and process quality, control such as the self-adaptation of the processing course, the craft parameter is produced automatically; Join the convenient one in order to improve the performance of urging and use intelligently, if feedforward control , adaptive operation , electrical machinery of parameter , discern load select models , since exactly makes etc. automatically automatically; The ones that simplified programming , simplified operating aspect are intelligent, for instance intelligent automatic programming , intelligent man-machine interface ,etc.; There are content of intelligence diagnose , intelligent monitoring , diagnosis convenient to be systematic and maintaining ,etc..
Produce the existing problem for the industrialization of solving the traditional numerical control system sealing and numerical control application software. A lot of countries carry on research to the open numerical control system at present, such as NGC of U.S.A. (The Next Generation Work-Station/Machine Control), OSACA of European Community (Open System Architecture for Control within Automation Systems), OSEC (Open System Environment for Controller ) of Japan, ONC (Open Numerical Control System ) of China ,etc.. The numerical control system melts to become the future way of the numerical control system open. The so-called open numerical control system is the development of the numerical control system can be on unified operation platform, face the lathe producer and end user, through changing, increasing or cutting out the structure target(numerical control function), form the seriation, and can use users specially conveniently and the technical know-how is integrated in the control system, realize the open numerical control system of different variety , different grade fast, form leading brand products with distinct distinction. System structure norm of the open numerical control system at present, communication norm , disposing norm , operation platform , numerical control systematic function storehouse and numerical control systematic function software developing 包含ument ,etc. are the core of present research.
The networked numerical control equipment is a new light spot of the fair of the internationally famous lathe in the past two years. Meeting production line , manufacture system , demand for the information integration of manufacturing company networkedly greatly of numerical control equipment, realize new manufacture mode such as quick make , fictitious enterprise , basic Entrance that the whole world make too. Some domestic and international famous numerical control lathes and systematic manufacturing companies of numerical control have all introduced relevant new concepts and proto無效s of a machine in the past two years, if in EMO2001 exhibition, " CyberProduction Center " that the company exhibits of mountain rugged campstool gram in Japan (Mazak ) (intellectual central production control unit, abbreviated as CPC); The lathe company of Japanese big Wei (Okuma ) exhibits " IT plaza " (the information technology square , is abbreviated as IT square ); Open Manufacturing Environment that the company exhibits of German Siemens (Siemens ) (open the manufacturing environment, abbreviated as OME),etc., have reflected numerical control machine tooling to the development trend of networked direction.
2 pairs of basic estimations of technology and industry development of numerical control of our country
The technology of numerical control of our country started in 1958, the development course in the past 50 years can roughly be divided into 3 stages: The first stage is from 1958 to 1979, namely closed developing stage. In this stages, because technology of foreign countries blockade and basic restriction of terms of our country, the development of numerical control technology is comparatively slow. During " Sixth Five-Year Plan Period " , " the Seventh Five-Year Plan Period " of the country in second stage and earlier stage in " the Eighth Five-Year Plan Period ", namely introduce technology, digest and assimilate, the stage of establishing the system of production domesticization arisesing tentatively. At this stage , because of reform and opening-up and national attention , and study the improvement of the development environment and international environment, research , development and all making considerable progress in production domesticization of the products of the technology of numerical control of our country. The third stage is and during the " Ninth Five-Year Plan Period " on the later stage in " the Eighth Five-Year Plan Period " of the country, namely implement the research of industrialization, enter market competition stage. At this stage , made substantive progress in industrialization of the domestic numerical control equipment of our country. In latter stage for " the Ninth Five-Year Plan ", the domestic occupation rate of market of the domestic numerical control lathe is up to 50%, it is up to 10% too to mix the domestic numerical control system (popular ).
Make a general survey of the development course in the past 50 years of technology of numerical control of our country, especially through tackling key problems of 4 Five-Year Plans, all in all has made following achievements.
a.Have establish the foundation of the technical development of numerical control, has mastered modern numerical control technology basically. Our country has already, the numerical control host computer , basic technology of special plane and fittings grasped and driven from the numerical control system and servoly basically now, among them most technology have already possessed and commercialized the foundation developed , some technology has already, industrialization commercialized.
.Have formed the industrial base of numerical control tentatively. In tackling key problems the foundation that the achievement and some technology commercialize , set up the systematic factories of numerical control with production capacity in batches such as numerical control in Central China , numerical control of the spaceflight etc.. Electrical machinery plant of Lanzhou, such factory and the first machine tool plant of Beijing , the first machine tool plant of Jinan ,etc. several numerical control host computer factories of a batch of servo systems and servo electrical machineries as the numerical control in Central China,etc.. These factories have formed the numerical control industrial base of our country basically.
Have set up a numerical control research, development , managerial talent's basic team .
Though has made considerable progress in research and development and industrialization of numerical control technology, but we will realize soberly, the research and development of the technology of advanced numerical control of our country, especially there is greater disparity in current situation and current demand of our country of engineering level in industrialization. Though very fast from watching the development of our country vertically, have disparity horizontally more than (compare foreign countries with ) not merely engineering level, there is disparity too in development speed in some aspects, namely the engineering level disparity between some high-grade , precision and advanced numerical control equipment has the tendency to expand . Watch from world , estimate roughly as follows about the engineering level of numerical control of our country and industrialization level.
On the engineering level, in probably backward 10- 1 years with the advanced level in foreign countries, it is bigger in high-quality precision and sophisticated technology.
On the industrialization level, the occupation rate of market is low, the variety coverage rate is little, have not formed the large-scale production yet; The specialized level of production of function part and ability of forming a complete set are relatively low; Appearance quality is relatively poor; Dependability is not high, the commercialized degree is insufficient; One's own brand effect that the domestic numerical control system has not been set up yet, users have insufficient confidence.
On the ability of sustainable development, research and development of numerical control technology , project ability are relatively weak to the competition; It is not strong that the technological application of numerical control expands dynamics; Research , formulation that relevant standards are normal lag behind.
It is analysed that the main reason for having above-mentioned disparity has the following several respect.
Realize the respect. Know to industry's process arduousness , complexity and long-term characteristic of domestic numerical control insufficiently; It is difficult to underestimate to add strangling , system ,etc. to the unstandard , foreign blockade of the market; It is not enough to analyse to the technological application level and ability of numerical control of our country.
System. Pay close attention to numerical control industrialization many in the issue , consider numerical control industrialization little in the issue synthetically in terms of the systematic one , industry chain in terms of technology; Have not set up related system , perfect training , service network of intact high quality ,etc. and supported the system.
Mechanism. It causes the brain drain, restraining technology and technological route from innovating again , products innovation that the bad machine is made, and has restricted the effective implementation of planning , has often planned the ideal , implement the difficulty.
Technology. The autonomous innovation in technology of enterprises is indifferent, the project of key technology is indifferent. The standard of the lathe lags behind, the level is relatively low, it is not enough for new standard of the numerical control system to study.
數(shù)控技術(shù)和裝備發(fā)展趨勢及對策
數(shù)控技術(shù)是用數(shù)字信息對機械運動和工作過程進行控制的技術(shù)，數(shù)控裝備是以數(shù)控技術(shù)為代表的新技術(shù)對傳統(tǒng)制造產(chǎn)業(yè)和新興制造業(yè)的滲透形成的機電一體化產(chǎn)品，即所謂的數(shù)字化裝備，其技術(shù)范圍覆蓋很多領(lǐng)域：(1)機械制造技術(shù)；(2)信息處理、加工、傳輸技術(shù)；(3)自動控制技術(shù)；(4)伺服驅(qū)動技術(shù)；(5)傳感器技術(shù)；(6)軟件技術(shù)等。
1 數(shù)控技術(shù)的發(fā)展趨勢
數(shù)控技術(shù)的應(yīng)用不但給傳統(tǒng)制造業(yè)帶來了革命性的變化，使制造業(yè)成為工業(yè)化的象征，而且隨著數(shù)控技術(shù)的不斷發(fā)展和應(yīng)用領(lǐng)域的擴大，他對國計民生的一些重要行業(yè)（IT、汽車、輕工、醫(yī)療等）的發(fā)展起著越來越重要的作用，因為這些行業(yè)所需裝備的數(shù)字化已是現(xiàn)代發(fā)展的大趨勢。從目前世界上數(shù)控技術(shù)及其裝備發(fā)展的趨勢來看，其主要研究熱點有以下幾個方面［1～4］。
1．1 高速、高精加工技術(shù)及裝備的新趨勢
效率、質(zhì)量是先進制造技術(shù)的主體。高速、高精加工技術(shù)可極大地提高效率，提高產(chǎn)品的質(zhì)量和檔次，縮短生產(chǎn)周期和提高市場競爭能力。為此日本先端技術(shù)研究會將其列為5大現(xiàn)代制造技術(shù)之一，國際生產(chǎn)工程學會（CIRP）將其確定為21世紀的中心研究方向之一。
在轎車工業(yè)領(lǐng)域，年產(chǎn)30萬輛的生產(chǎn)節(jié)拍是40秒/輛，而且多品種加工是轎車裝備必須解決的重點問題之一；在航空和宇航工業(yè)領(lǐng)域，其加工的零部件多為薄壁和薄筋，剛度很差，材料為鋁或鋁合金，只有在高切削速度和切削力很小的情況下，才能對這些筋、壁進行加工。近來采用大型整體鋁合金坯料