抽屜式換煤機設計【含CAD圖紙、PROE三維】,含CAD圖紙、PROE三維,抽屜,式換煤機,設計,CAD,圖紙,PROE,三維 JOURNAL OF SHANG HAI JIAO TONG UNIVERSITY1994-2007 ChinaAcademicJournal Electronic PublishingHouse.Allrights reserved.http:/DevelopmentDevelopmentDevelopmentDevelopmentofofofofa a aaWorkpieceWorkpieceWorkpieceWorkpieceLocationLocationLocationLocationDetermDetermDetermDeterminationinationinationinationSystemSystemSystemSystemininininParallelParallelParallelParallelMechanismMechanismMechanismMechanismTypeTypeTypeTypeMachineMachineMachineMachineToolsToolsToolsToolsZHAO Xiao ming,SHAO Hua,HATTORIKazuya,TSUTSUMIM asaom i1.School ofMechanical Eng, Shanghai Jiao tong Univ, Shanghai 200030,China;2.Technical Research Dept,ToyodaMachineWorks, Kariya 44828652,Japan;3.Bio Applications and Systems Eng,TokyoUniv of Agriculture and Technology,Tokyo18428858, Japan.Abstract:This paper uses HexaM made by ToyodaMachine Works Co.as an analyticalmodel of parallelmechanism type machine tools. Much collision may be generated foritscomplicatedstructure and working space, when a workpieceismach inedusing this machine. Forexample, those collisions are generated.between the moving components of the parallelmechanism ,between the moving components and a workpiece and between themovingcomponents and the tool storage for autom atic changing.In thispaper,an algorithmfor detecting and avoiding those collision swasproposed. The method for avoiding thecollisions was conducted by readjusting the location of the workpiece without am endingthe toolpath.Itisconfirmed through experim ent that the proposed algorithmisuseful for detecting the collisions and determining the location of the workp iecepriortothe actual machining.Keywords: parallel machine tools;ollision check; avoidance; toolpath; in stallation siteIn recent years, the PMT development and application of the growing, but because ofitsstructure andworking spaceisvery complicated, use it for processing the workpiece, itisvery possible the machinecomponents themselves interfere with the workpiece and the machine interference.Also, if like PMT HexaM1, work on stage in the installation of automatic tool change devices and other peripheral equipment, theinstallation of the workpiece. It may limit the installation of the workpiece location, that is, peripheral equipmentand workpiece interference that may arise when processing machines and peripheral equipmenttointerfere.PMT on their waytocheck interference and machine work space has been much research 2 5.Among them, This writer and other Japanese companies Toyota Machine Works of PMT HexaM 1asa model.Discussion ofPMTstheir interference in the inspection, the work space approximate expression 5. the otherhand, 5-axis NC machining, cutting tool (knife, Chuck and Spindle) and the workpiece (workpiece and fixture)interference methods also have many. Among them, Takeuchi, etc. 6 tool system from the surface for anumber of pointsasinterference checking, and the workpiece surface are relatively simple function, wheninterference check point at the internal functions, be abletojudge for the machine and workpiece occurredinterference; The author, etc. 7 and the method proposed here just the opposite. that is, from the workpiecesurface, system selection interference checking, whether the system access tool for interference checking. AsCNC machine peripheral devices are not generally placed in the work tops , So, in these two methods, they didnot consider processing machines and peripheral equipmenttointerfere in the issue.These studies are discussed in detail PMT their interference in the machine tool and workpiece and theinterference checking and evasive methods, However, the use of PMT ago, but there are several problems:JOURNAL OF SHANG HAI JIAO TONG UNIVERSITY1994-2007 ChinaAcademicJournal Electronic PublishingHouse.Allrights reserved.http:/ working platform for peripheral devices suchasa barrier Machine 1 should consider the machines andperipheral equipment possible interference; the inspection machine and the interference of the workpiece. Consideration should also be given spindleplywood, plywood hinge link with the workpiece and the possibility of interference, However, the existing CAMsoftware does not include such interference detection; machine when thereisinterference with the workpiece. GeneralToolalways postural adjustmentstoavoidinterference. In fact, PMT, in additiontopostural adjustment tool,Youcan also adjust the location of theworkpiecetoavoid all interference. Moreover, This approach avoided the biggest advantageisnottochangethe existing CAM software.Based on common CAM software tool path of the output-based, shorten the timetointerfere in theinspection checkpoints document composition, By adjusting the location of the installation of the workpiecetoavoid the possibility of all kinds of interference, of the workpiece can test for processing at the workpiece andmachinability best installation location calculation.1.Interference1.Interference1.Interference1.InterferencecheckingcheckingcheckingcheckingandandandandavoidavoidavoidavoidinterferenceinterferenceinterferenceinterferenceUsing the PMT HexaM, peripheral equipment (the knife) and the workpiece installation diagram shownin Figure 1. Therefore, For the machine, during processing and installation of the workpiece at the possibility ofinterference with his interference, machine tool and workpiece interference machines and the peripheralequipment, and interference with the surrounding devices workpiece interference.If you are using a parallel machine table without peripheral devices or devices placed around the farmore, will not affect the location of the workpiece machining process or there will not be machines andperipheral equipment interference, can be omitted from the workpiece and the machine and equipment aroundthe interference checking.F ig. 1Schemat ic of the parallelmechanism HexaM1.11.11.11.1TheirTheirTheirTheirinterferenceinterferenceinterferenceinterference1.1.11.1.11.1.11.1.1TheTheTheThecompositioncompositioncompositioncompositioncheckpointscheckpointscheckpointscheckpointsDuring processing, All tools can be appliedtoposition literature 5described methodtocheck whether their intervention will happen. if thereisinterference, can be used in theadjustment of the workpiece locationtoavoid interference. Parts of the installation location changes,ProcessingToolposition will naturally be changed. Therefore, the needtoconduct another inspection, notoccur until the date their interference. As an installation at each locationtolocation of all the tools for inspectionJOURNAL OF SHANG HAI JIAO TONG UNIVERSITY1994-2007 ChinaAcademicJournal Electronic PublishingHouse.Allrights reserved.http:/computing time will be very long.Toshorten the time of calculation, thisisnot the right tool for all locations andtoextract only a small number of knives location (hereinafter referredto ascheck points) interference checking.Therefore, point out checks must be done:at checkpoints if no interference initsown. in the other cutterlocation would not interfere in their occurrence. setting up check-points advantage of a significant reduction inthe frequency of inspections.From the z-axis cutter farther, the higher the position, the greater the degree of tilt, the more prone theyinterfere in 5. Therefore, wait for the processing of the workpiece, the tool path from the outsidetoshare themeasurement point, the higher the cutter location, tool tilt angle larger pointas todetermine whether theyinterfere in the check points.1.1.21.1.21.1.21.1.2InterfereInterfereInterfereInterferewithwithwithwiththethethetheinspectioninspectioninspectioninspectionmethodsmethodsmethodsmethodsToolposition and posture straight at the moon and the spacerotary disk space, it would be interference initsown 5. Therefore, they interfere with the inspection methods: read all checkpoints, obtained a checkpoint each correspondingtothe straight and rotating space YuanYuan space 5. cutter position and posture in response The straight round space and space Rotary Circle,convicted of the checkpoint will not interfere in their occurrence;Inall the check points are not interfered, werejudgedtobe installed in the position nottointerfere in their occurrence. If a check point in the location orposition of the straight excess space Yuan Yuan, or rotating space, can be used in the literature 5 mentionedin the inspection methodstointerfere in the review. As space than the average round of inspectionsinterference 5 calculationtobe much smaller, so this kind of method can shorten each inspection, thecomputation time.1.1.31.1.31.1.31.1.3AvoidAvoidAvoidAvoidinterferenceinterferenceinterferenceinterferencemethodmethodmethodmethodAs in the same horizontal plane, the cutter in the z-axis location at the leastpronetohis interference. Therefore, If a checkpoint in a self-interference then we check points and the z-axisdirection connectivityasevasive. Then, Parts of the installation location along the direction of movement ofevading 10 mm. If two consecutive evade direction of the angleisgreater than 150 . that could have beenavoided reversed direction in the horizontal plane does not exist in the locationtoinstall, soThe workpiece canbe installedtoenhance upward position.Inthis paper, each increase by 10 mm. If they interfere with the mainmotorisa rotary screw lower interference Note workpieceistoo high or the location of the workpiece too high,not with the machine tool.1.21.21.21.2MachineMachineMachineMachineinterfereinterfereinterfereinterferewithwithwithwiththethethetheworkpieceworkpieceworkpieceworkpiece1.2.11.2.11.2.11.2.1TheTheTheThecompositioncompositioncompositioncompositioncheckpointscheckpointscheckpointscheckpointsAs shown in figure2,machine and workpiece possible interferencebetween parts of a knife, chuck, spindle head, spindle splint, Hinges and plywood link. workpiece can be seenfrom the surface and surface composition. Among them, Surface processing from the point with machine mighthappentothe non-interference by non-machined surface processing point is, here, processing and point andnon-point processing collectively referred inquiriestothe point.JOURNAL OF SHANG HAI JIAO TONG UNIVERSITY1994-2007 ChinaAcademicJournal Electronic PublishingHouse.Allrights reserved.http:/F ig. 2Check method of the collision betw een the parallelmechanism and wo rkp ieceInquiries point with knives, and Chuck, The first spindle axis and the splint interference knownasacategory interference. Such interference only with knives, the posture, and workpiece position unrelatedtotheinstallation. Therefore, if the screening of such interference, and only postural adjustment tool for evasive, Thisrequires changes CAM software, beyond the scope of this discussion.Inquiries point splint hinge connecting rod or interfere in the resolutionasinterference in two categories.Such interference can be adjusted through the installation of the workpiece - Purchase avoided. Below thesetwo types of intervention onthe check points formed.With a cone,itscenter point for the tool, cone angle of H0 included knives, and Chuck, The first spindleaxis and the minimum angle of plywood;Toolcenter hinge splinttothe minimum distance of d002;Toolaxis inthe direction of the minimum distance of h0, H0, d002 and h0 machine parts accordingtothe size and structureof plywood hinge back corner of the largest such parameters obtained.For the processing of a pointP,P calculated with all inquiries Q-point connectivity PQ and the tool axisangle H, d line segment and the length of the segment PQ tool axis direction on the length of the projection h.Therefore, satisfy conditions H H 0 inquiries pointasa kind of interference in check; satisfy conditions d h andd 0 h0 inquiries pointsasClass 2 interfere in the check points. As with all the processing points have obtainedtwo checkpoints, and deposited checkpoints document.1.1.21.1.21.1.21.1.2InterfereInterfereInterfereInterferewithwithwithwiththethethetheinspectioninspectioninspectioninspectionmethodsmethodsmethodsmethodsChecking whether there was interference in Category1,thefirst knife, Chuck, The first spindle axis and splint (referredto asToolSystem), and a type of interventioncheckpoints x z planetothe projection, then,Toolchecks into the projection system checks whether the pointsystem and tool interference 7. As the No. 1 category interfere with the workpiece unrelatedtothe installationlocation, in the calculation of the workpiece location, only for a meeting of this kind of checking calculations.Duetothe location of the installation of the workpiece, which will definitely leadtosplint hinge and linkthe position and posture change. Therefore, Parts of each installation location adjustments, we must checkwhether there will be interference in the first two categories. Therefore, Howtoreduce interference in the firsttwo categories of the inspectionistoshorten the clearance time of the key.Inthis paper, judgment Category 2interference check pointistosatisfy the conditions d h and d 0 h0, This small workpiece or relatively flatworkpiece can be significantly reduced check points.JOURNAL OF SHANG HAI JIAO TONG UNIVERSITY1994-2007 ChinaAcademicJournal Electronic PublishingHouse.Allrights reserved.http:/1.2.31.2.31.2.31.2.3AvoidAvoidAvoidAvoidinterferenceinterferenceinterferenceinterferencemethodmethodmethodmethodWhen interference, anditsmethod of avoiding interference initsown whenthere are evading the same method.1.31.31.31.3MachineMachineMachineMachineandandandandequipmentequipmentequipmentequipmentaroundaroundaroundaroundthethethetheinterferenceinterferenceinterferenceinterference1.3.11.3.11.3.11.3.1TheTheTheThecompositioncompositioncompositioncompositioncheckpointscheckpointscheckpointscheckpointsFigure 3 for PMT HexaMof peripheral equipment, workpiecemachining and tool path when the vertical view. From Figure3,we can see that peripheral equipment installedin the workstationstoa quadrant, soToolpathtothe center of a quadrant of the outer (.),asinterference in thecheck points.Fig. 3Check po ints and avo idance vecto r of thecollisionbetw een the parallelmechanism and magazine1.3.21.3.21.3.21.3.2InterfereInterfereInterfereInterferewithwithwithwiththethethetheinspectioninspectioninspectioninspectionmethodsmethodsmethodsmethodsAnd peripheral equipment may interfere with the parts of amachine tool, chuck, spindle head, plywood hinge connectingrodand spindle splint, Their shape of a cylinderand the plane circles constitute the polyhedron, and peripheral equipment for the many facets of the shape.Therefore, peripheral equipment and machine parts will be used between bounded plane and cylinder andbounded plane and bounded plane interference method 5. That is, in all the checkpoints, causing peripheralequipment bounded plane and the cylindrical machine parts sector plane or whether thereisan intersectionbetween. If Nodal, Information on interference; If no intersection, a statement that no interference. As notedabove, workpiece location of the installation will bringdifferent machine parts location and posture change, soeach set new workpiece location, must re-examine whether there has been peripheral equipment and machineinterference.1.3.31.3.31.3.31.3.3AvoidAvoidAvoidAvoidinterferenceinterferenceinterferenceinterferencemethodmethodmethodmethodIf the machine occurred with the surrounding equipment interference,peripheral equipment will surface before the normal directionas toevade direction, and the occurrence ofevading their own methods of avoiding interference in the same way.1.41.41.41.4WorkpieceWorkpieceWorkpieceWorkpieceandandandandthethethetheinterferenceinterferenceinterferenceinterferenceofofofofneighboringneighboringneighboringneighboringdevicesdevicesdevicesdevicesInordertobe abletoquickly detect when installing the workpiece and the existence of peripheralequipment interference, the first of the workpiecetothe xy plane projection, and bounded by polygonsworkpiece envelope projection. Then, use bounded plane and bounded plane 5tocheck the workpiece andthe interference of neighboring devices. each installation location given workpiece after, the need for suchinterference checking.If the workpiece and interfere with the surrounding equipment, peripheral equipment will surface beforethe normal directionas toevade direction, and the occurrence of evading their own methods of avoidinginterference in the same way.JOURNAL OF SHANG HAI JIAO TONG UNIVERSITY1994-2007 ChinaAcademicJournal Electronic PublishingHouse.Allrights reserved.http:/1.51.51.51.5InterpolationInterpolationInterpolationInterpolationofofofofcheckcheckcheckcheckpointspointspointspointsFrom the above content aware that apart from the workpiece and the interference of neighboringequipment checks, other checks are interfering in the inspection point in terms of interference. Therefore, if thecheck points between the distanceistoo large, There wereatcheckpoints without interference, whileatcheckpoints will happen between interference, But such interference has not been found possible. in actualprocessing timeisabsolutely impermissible.Tosolve checkpoints may exist between the interference problem, there are two major ways:First, asimple function with polyhedron intersection method 8; twoistocheck the distance between the pointnarrowing. No. 1 methods for screening machine and the interference of the workpiece particularly effective,But they can not be usedtosolve interference; 2 methods for the various types of interference in the inspectionappliestoall, But if the checkpoints between the distanceistoo small, check points, a huge amount, Inspectioninterfere in the calculation will be very long. Therefore, we set a safe distance, Under this safe distance fromthe check pointtoshorten the distance between, in ordertoachieve the results we are reliable, also short timeinspection purposes. specific methods areasfollows.Conducting two objects judgment interference, One of the first objectstoexpand 5 mm. If the expandedintersection of two objects. was convicted of two objects thereisinterference. If the intersection from thesurface of objects within 5 mm.Infact, thisisstill no interference. If convicted of two objects thereisnointerference, then the distance between the two objects in more than 5 mm. Here, this 5 mm called safedistance.CAM system for output from the reference point and tool path, If adjacenttothe inquiry or the distancetool pathisgreater than the distance between a safe distance Inquiries points in the tool path between oramong some interpolation points. thatis, after inquiries after the interpolation between the points and tool pathisthe distance between less safe distance. So, when the two checkpoints there are no interference. in betweenthem would not have happened interference. Thus, a safe distance from the needtodetermine whether theinterpolation, can prevent missed interference, without excessive increase in computing time.2.2.2.2.WorkpieceWorkpieceWorkpieceWorkpiecelocationlocationlocationlocationofofofofthethethetheinstallationinstallationinstallationinstallationmethodmethodmethodmethodofofofofcalculationcalculationcalculationcalculation2.12.12.12.1PartsPartsPartsPartsofofofofthethethethebestbestbestbestinstallationinstallationinstallationinstallationlocationlocationlocationlocationInthis paper, Pad of the minimum height; from the shortest distance from the center stage as ameasure of the workpiece best installation location standards. Specifically, Firsttothe workpieceisplaced inthe bottom table (At this point, the height of the pan 0)Tooltracks in the xy plane projection center and thecenter coincides workstations (distance from the center of the worktable 0) Workpieceasthe best installationlocation. If thereisinterference in the locationtobe installed, in ordertoguarantee the minimum height Pad,will be the workpiece within the same level from the inside outward movement Find no interference in theinstallation location. If not found in the same horizontal plane does not interfere with the