Course project "Design of mechatronic module of translational motion"

Contents

CONTENTS

INTRODUCTION

1 Overview of existing mechatronic modules

1.1 Classification of mechatronic modules

1.2 General information and technical characteristics of existing mechatronic modules

2 Design part

2.1 Calculation of ball-screw gear

2.1.1 Calculation of geometric parameters of IOB nut

2.1.2 Check calculation of transmission by contact voltages

2.1.3 Check the screw for static stability

2.1.4 Checking the screw for dynamic stability

2.2 Calculation of required engine power of mechatronic module

2.3 Determination of main dimensions of stator and rotor

2.4 Calculation of mechatronic module braking device

2.5 Description of mechatronic module composition and operation principle

3 Information subsystem of mechatronic module

CONCLUSION

LIST OF SOURCES USED

Introduction

Mechatronics is a new field of science and technology dedicated to the creation and operation of machines and systems with computer motion control, which is based on knowledge in the field of mechanics, electronics and microprocessor technology, computer science and computer motion control of machines and units.

The methodological basis for the development of mechatronic systems is the methods of parallel design. In the traditional design of computer-controlled machines, the development of mechanical, electronic, sensor and computer parts of the system is carried out, and then the selection of interface units is carried out. A feature of parallel design is the simultaneous and interconnected synthesis of all components of the system. Mechatronic systems are designed to realize a given movement. The criterion for the quality of the movement of mechatronic systems is problematic orientation, that is, it is determined by setting a specific application task. The specifics of the tasks of automated machine building consists in the implementation of the movements of the output links of the working element of the process machine (tool on the machine). At the same time, it is necessary to coordinate the control of the movement space of mechatronic systems with the control of various external processes.

The basic objects of mechatronics study are the mechatron module, which performs movements along one controlled coordinate. From such modules, as from functional cubes, complex systems of modular architecture are built.

The main advantages of mechatronic devices compared to traditional automation tools include:

Relatively low cost due to the high degree of integration, harmonization and standardization of all elements and interfaces;

high-quality implementation of complex and accurate movements due to the application of intelligent management methods;

high reliability, durability and noise immunity;

structural compactness of modules (up to miniaturization and micromachines);

improved weight and size and dynamic characteristics of machines due to simplification of kinematic chains;

possibility of integrating functional modules into complex mechatronic systems and complexes for specific tasks of the customer.

Today, mechatronic modules and systems are widely used in the following areas:

machine tools and equipment for automation of technological processes;

robotics (industrial and special);

aviation, space and military equipment;

automotive industry (e.g. anti-lock brake systems, car stabilization and automatic parking systems);

non-traditional vehicles (electric bicycles, freight trolleys, electric rollers, wheelchairs);

Office equipment (e.g. copy and fax machines)

computer elements (e.g. printers, plotters, disk drives);

medical equipment (rehabilitation, clinical, service).

Overview of existing mechatronic modules

Classification of mechatronic motion modules

The main types of single-coordinate motion modules developed to solve the problems of automated mechanical engineering:

1) Mechatronic modules of rotary motion based on high-torque engines.

High-torque motors are DC motors with excitation from permanent magnets and electronic switching of windings, which allow multiple moment overload. To determine the position of the poles, additional technical means (for example, Hall sensors, inductive and photovoltaic sensors) are installed on the rotor of the TDC valve. Typically, high-torque motors (HMD) operate stably at speeds of 0.1-1 1/min, which are typical of metal cutting mills and industrial robots.

The main advantages of TDMA are determined by the absence of gearbox in the drive:

- reduction of material consumption, compactness and modularity of the design;

- increased accuracy characteristics of the drive due to absence of clearances;

- elimination of friction in mechanical transmission makes it possible to significantly reduce positioning errors and non-linear dynamic effects at creeping speeds;

- increase of resonance frequency.

Modern mechatronic motion modules based on VMD necessarily also include feedback sensors and sometimes controlled brakes, which allows us to attribute such MMDs to the second generation. Photopulse sensors (incoders), tachogenerators, resolvers and code position sensors are most often used as sensors. It is fundamentally important that the engine sensor module has a single shaft, which allows you to combine high technical parameters and low cost.

Also, modules of this type can be used in non-traditional vehicles: electric vehicles, electric bicycles, wheelchairs, etc.

2) Mechatronic modules of the type "engine - working tool"

Such structural modules are of particular importance for technological mechatronic systems, the purpose of which is to realize the targeted effect of the working body on the object of work.

In machines with relatively low torque (lathe small sizes, cantilever, high-speed milling machines), the so-called "motor-windings" are used. A distinctive structural feature of these electromechanical units of the main movement drives is the installation of the spindle directly on the engine rotor.

Modules of the "engine-working organ" type have also been widely used in electric drives of various self-propelled vehicles (electric bicycles and electric vehicles, robocars and mobile robots, etc.).

3) Mechatronic modules of linear motion

Conventional linear motor drives include a rotary motor and a mechanical transmission for converting rotation into translational motion (ball-screw transmission (BCF), rack, belt transmission, etc.). Since the beginning of the 80s, the development of linear engines themselves has been known, however, due to low specific power parameters, they had a limited field of application (graph builders, coordinate measuring machines) and could not be used in automated equipment.

The main advantages of LVMD-based modules compared to traditional linear drives are:

- Increase by several times the maximum speed of movement (up to 150210 m/min) and acceleration (in the future up to 5g);

- high accuracy of motion implementation;

- high static and dynamic stiffness.

At the same time, there are a number of problems in the design and implementation of LVMD: a higher cost, the need to use MMD cooling systems (liquid or air), a relatively low value. of the module.

4) Geared motors

The reduction motor is a compact structural module combining the electric motor and the reduction gear. Compared to the traditional connection of the engine and the reduction gear box through the coupling, the reduction motors have a number of significant advantages:

- reduction of overall dimensions;

- reduction of cost due to reduction of number of connecting parts, reduction of costs for installation, adjustment and starting of the product;

- improved operational properties (dust and moisture protection, minimum vibration level, safety and reliability of operation in unfavourable production conditions).

The design of the module is determined by the types of gearboxes and motors used. Depending on the technical requirements of the task, cylindrical, nozzle, conical, worm and other types of gearboxes are used. As motors, asynchronous motors with a short-circuited rotor and adjustable speed converters, single-phase motors and DC motors are most often used.