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影响机械手生产精度的几个因素

现在很多机械生产厂家,都在选择用机械手作为主要生产方式,生产中使用自动化机械手能够提高产品的生产效率和产品质量,降低产品的生产成本,但是机机械手能否准确地工作,实际上是一个三维空间的定位问题,是若干线量和角量定位的组合,今天我们就来说一说影响机械手生产精度的几个因素?

Now a lot of machinery manufacturers, are choosing to use manipulators as the main mode of production, the use of automated manipulators to improve product production efficiency and product quality, reduce the production cost of products, but the machine manipulator can work accurately, in fact, is a three-dimensional space positioning problem, is a combination of several lines and angular positioning, Today, let's talk about a few factors that affect the production accuracy of manipulators?

定位方式和速度,不同的定位方式影响因素不同,如机械挡块定位时,定位精度与挡块的刚度和碰接挡块时的速度等因素有关。定位速度对定位精度影响很大。这是因为定位速度不同时,必须耗散的运动部件的能量不同。通常,为减小定位误差应合理控制定位速度,如提高缓冲装置的缓冲性能和缓冲效率,控制驱动系统使运动部件适时减速。

Positioning mode and speed, different positioning methods affect different factors, such as mechanical block positioning, positioning accuracy and the stiffness of the block and the speed of the touch block when related factors. Positioning speed has a great influence on positioning accuracy. This is because the positioning speed is different and the energy of the moving parts that must be dissipated varies. In general, the positioning speed should be reasonably controlled in order to reduce the positioning error, such as improving the cushioning performance and cushioning efficiency of the buffer device, and the control drive system slows down the moving parts in a timely manner.

精度和刚度,机械手的制造精度和安装调速精度对定位精度有直接影响,机械手本身的结构刚度和接触刚度低时,因易产生振动,定位精度一般较低。运动件的重量包括机械手本身的重量和被抓物的重量,运动件重量的变化对定位精度影响较大,运动件重量增加时,定位精度降低,因此,设计时不仅要减小运动部件本身的重量,而且要考虑工作是抓重变化的影响。

Accuracy and stiffness, the manufacturing precision of the manipulator and the precision of the installation speed regulation have a direct influence on the positioning accuracy, and when the structural stiffness and contact stiffness of the manipulator itself are low, the positioning accuracy is generally low due to the easy generation of vibration. The weight of moving parts includes the weight of the manipulator itself and the weight of the gripper, the change of the weight of the moving parts has a great influence on the positioning accuracy, and when the weight of the moving parts increases, the positioning accuracy decreases, so the design should not only reduce the weight of the moving parts themselves, but also consider the influence of the change of the grip during the

驱动源和控制系统,液压、气压的压力波动及电压、油温、气温的波动都会影响机械手的重复定位精度。因此,采用必要的稳压及调节油温措施,如用蓄能器稳定油压,用加热器或冷却器控制油温,低速时,用温度、压力补偿流量控制阀控制。

The driving source and control system, the pressure fluctuation of hydraulic and air pressure and the fluctuation of voltage, oil temperature and temperature will affect the repetitive positioning accuracy of manipulator. Therefore, the use of the necessary voltage stabilization and regulation of oil temperature measures, such as the use of accumulator to stabilize the oil pressure, with a heater or cooler to control the temperature, low speed, with temperature, pressure compensation flow control valve control.

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