单点开式曲柄式机械剪板机设计【全套含CAD图纸和三维PROE图纸说明书】
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全套含CAD图纸和三维PROE图纸说明书
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附录一A novel dynamic holding system for thin metal plate shearing machinesL.M.B. Arajo, F.J.G. Silva , R.D.S.G. Campilho, J.A. MatosABSTRACTMetal shearing machines are heavy equipments usually linked to low added-value due to the small amount of technological devices incorporated. However, this situation can be changed through equipment designers creativity. Analysing some specific operations, it can be observed that some tools, when coupled to the equipment, should substantially increase the cutting process productivity and the final product quality. Regarding the thin metal plates shear process, it can be found that in the cutting final stage, the cut material weight is suspended by a small material section still requiring to be cut. This leads to strip tip deformation, causing poor quality of the final product, which cannot stay fully plan. This work was developed around this problem, studying the best solution to develop a new tool able to avoid the lack of plate flatness after cut. A novel equipment was designed, able to be easily connected to the shearing machine, following the blade movement throughout cut operation. The system is fully-automated, being operated by a single cut instruction given by the machine operator. This system allows the manufacturing company to increase the added-value of each machine, oering advanced and desirable solutions to the customers, and contributing as well to the company business sustainability.1. IntroductionAlthough being an old technology, blanking remains nowadays one of the most used cutting processes in metalworking industry 1. This technology was study many year ago but, recent developments brings new challenges such as adapting finite elements model to these technologies in order to predict new materials behaviour, explore the processes capacity having as focus to increase the production rate and implement new devices leading to a quality improvement regarding the new market requests and expectations. Accordingly, several studies have been carried out by dierent authors regarding, namely in the field of the parameters improvement, with Breitling et al. 2 exploring the competitiveness of the process and studying the blanking speed, concluding that blanking force drops with the increase of the blanking speed within the range of 14 m s1, results whose were corroborated by Goijaerts et al. 3 within the range of 0.011000 mm s1. Further studies have been carried out by Neugebauer et al. 4 and Subramonian et al. 5 concluding that dynamic eect is higher when blanking speed increases, using a high speed mechanical press. Mackensen et al. 6 studied the punch inclination angle, concluding that cutting forces are lower when punch inclination angle rises. However, higher punch inclination angles lead to blank curling. As referred by other authors 79, a better geometrical accuracy of the blanked part can be achieved by an optimization of the punch shape and die clearance. However, it remains clear that parameters such as tool wear state, clearance, tool radii and geometry, material geometry, sheet metal thickness, friction, relevant material properties regarding the cutting (ductility and hardness), sheet metal coating, lubrication use, stroke rate and blanking speed are the key-factors aecting the sheared edge aspect 10. Thermal eects have been also intensively studied in order to correlate the temperature with the blanking force 1113 leading to realize that blanking forces fall when material temperature upsurges. These studies include pre-heating processes in order to lead the material temperature to diverse levels and measure the needed blanking force to cut dierent materials. Many other studies have been carried out in the analytical and numerical methods field, trying to get reliable models helping researchers to predict blanking operations eect regarding dierent materials and cutting conditions whose are summarized in 10,1416. However, despite these strong eorts, the blanking cutting process still remains an attractive issue to investigate due to shear band formed narrowness and the lack of an appropriate fracture criterion.The guillotine cutting process is also one of the most blanking processes used in the metalworking industry. To get the final product, raw materials need to pass through many processes, being usually the guillotine cutting one of them. This cutting process can be performed manually or automatically and can be integrated as an initial, inter-mediate or finishing step 17. The guillotine cutting process principle,as shown in Fig. 1, consists of positioning the plate between a fixed and a movable blade, which downwards movement penetrates the plate and, when it exceeds the shear tensile strength, the plate is cut.This cutting principle is transverse to the dierent types of shearing machines, although the handling characteristics of the blade directly influence the final cut quality. Although the surface quality of guillotine cutting cannot compete with machined ones, this is the most economic-al cutting method to obtain straight shapes 19,20.The guillotining process has some typical associated defects, most of them related to frame distortion, blades gap or incorrect cutting angle regulation. Anyway, most of these problems are already fixed or attenuated with some devices already provided by manufacturers as option. It is well known that cut surfaces with higher quality will avoid subsequent finishing operations, as well as that cutting accuracy is dierent for the plate that remains in the table and the cut strip which, not being hold or fixed by hold down jacks, tends to bend or twist during the cutting process, originating defects as shown in Fig. 2.Bow is a cutting typical defect resulting from the progressive action of the movable blade in the cutting process. The cut strip is being separated without support, bending under its own weight 20. The strip bow becomes more pronounced the smaller the cut width and the greater the cut angle. However, reducing the cutting angle can minimize but not completely eliminate the bow 19. Twist is a defect described as the tendency to roll the cut material trendy a spiral shape. High cutting angles are usually associated to torsion defect, which also results from sheet metal internal stresses. This eect is more pro-nounced in narrow strips, being the last resistant strip-section the one that more easily attains permanent deformation 20. Camber is a defect resulting from the strip separation, being caused essentially due to material internal stresses 19,21,22.2. Methodology and resultsThis section is divided into three subsections: firstly, the problem is identified, followed by the initially designed solutions to eliminate it and, finally, the adopted solution to overcome the problem is pre-sented. As previously mentioned, the shearing process has a few typical limitations, but some of them are already solved by shearing machines manufacturers. The problem aects customers that use the guillotine to cut thin plates provided with high length. The second subsection will deal with the main initial ideas thought to eliminate the problem, with some solutions but only one presenting the best cost - benefits relation. Thus, in the third subsection, the adopted solution is described, together with some changes from the initial to the final design.2.1. The problemDuring the thin plate cutting process a very specific problem was detected, which occurs when cutting sheets with smaller thickness than 3 mm and length higher than 700 mm. Because the cutting process is performed with a programmed blade slope, this leads to warpage in the latter cut sheet portion (Fig. 3a), induced by the weight of the sheet already cut, which results in high bending stresses at the small area that is not yet cut, as illustrated in Fig. 3b. This occurrence prevents to include the guillotine directly in a processing line because straightening operations are mandatory before sheets pass to another processing step. This weakness is a major embarrassment and annoy-ance when constantly cutting plates with the aforementioned dimen-sional characteristics, leading to a reduction in productivity. Such defects have been reduced with some accessories available on the market. However, the complete elimination of this kind of defect is just expected by the integration of a dynamic holder during the cutting process.2.2. ApproachFig. 4 shows the 3D model of the conceived platform, able to be assembled on the guillotine structure, which allows giving a real vision about what can be expected and embodies a good way to detect issues to be improved. The platform consists of a frame held by four pneumatic cylinders, in which a guidance system enables the structure to move up and down, as well as to lean, but always without performing horizontal movements that would result in hitting the guillotines main frame.The main goal of this device is to be compatible with the new guillotines in production and with most of the guillotines already on the market, allowing to easily adapt this device to them.2.3. Methodology2.3.1. Dynamic holderThe dynamic holder will support the cut strip during the cutting process and the first design was a simple plate provided with reinforcement in the middle and square pipes on the top, but this structure showed to be very heavy to handle in maintenance operations and cylinders check, requiring the removal of the whole holding system for repairing and checking tasks (Fig. 5a). The modular chassis includes two removable plates around the central one (Fig. 5b), gaining access to the cylinders and decreasing the structures weight, thus facilitating the assembly and maintenance procedures. The removable plates fastening system is constituted by countersunk bolts and nuts. As the space between holder and ground in the holder rest position has restricted access, the nuts were welded to facilitate the cover removal operation.2.3.2. Guiding systemFirstly, it is necessary to explain why this system needs a guide. In Fig. 6 it is pointed out with green arrows the intended freedom degrees, while the red crosses indicate the restricted movements promoted by the guiding system.The first developed design is shown in Fig. 7 and the working principle was based on two sets of two positioning bearings at each side of the holder. Bearing A limits the horizontal movements while bearing B keeps the holding system in the correct vertical path.Hence, at this stage the system needs to be improved because it is really hard to fabricate and the final cost will be higher than desired. The design was rethought and now it will consist of applying a central guide below the holder, using a rod end bearing to keep the holding system in the correct position, giving as well the necessary freedom to the system tilting movement. The rod end bearing allows the inclina-tion during the cutting process and rotation to extract the strip or keep the holding system in the rest position. A weak point of this new system is related to the square shaft and bushing responsible for the vertical movement, which are dicult to manufacture. Thus, the square shaft and bushing were replaced by a linear guide. This change makes this system completely standard and the final result is an easy to manu-facture system in which all the components can be easily replaced Fig. 8.Fig. 1. Guillotine cutting process scheme 18Fig. 2. Typical defects on guillotine cutting process . Drive systemThe driving system is one of the most important parts of this project because it represents the biggest associated cost. Thus, to choose the correct one it is necessary to focus on the required positions:. Upper position. In this position the dynamic holding system is at the same level as the guillotine table, ensuring the horizontal plate position and the correct measurement of the strip to be cut, using the back gauge system. After positioning, the hold down jacks immobilize the plate, and the back gauge automatically retreats 100 mm, preventing the stress generated by the contact between strip and back gauge during the cutting process.Intermediate position. Starting the cut, a command is given for the cylinders to recede from the platform edge at the right position, resulting in the holders tilt. Thousandths of a second later, the same order is given to the cylinders at the opposite side. The cylindersmovement coordination is crucial in order to keep the holding system close to the strip cut point at each moment.. Discharge position. After the strip has been cut, the two inner cylinders are driven to give as much tilt as possible, leading to the strip discharge operation.Rest position. This position corresponds to the final stage of the cycle, being used as well when the sheet thickness exceeds 5 mm, since the pneumatic components are only designed to handle the structure and plates up to 5 mm thickness. It was considered necessary to implement a structure that allows optimizing the unit, making possible the cut for thicknesses higher than 5 mm. Therefore, it was decided to include two longitudinal reinforcements that absorb the impact loads of the strips exceeding 5 mm thickness dropping on the holder. Other established requirements are related to the very confined space to place the pneumatic cylinders and that components price should be as low as possible. After a long and careful market survey, the best options found are presented as follows.Fig. 3. Traditional defect (a) and high stress concentration (red zone) (b) (For interpretation of the references to color in this figure, the reader is referred to the web version of this article).Fig. 4. Isometric view (a) and exploded view (b) of preliminary holder version.2.3.4. Option 1 conventional cylindersThese cylinders present as advantage the high perpendicular resistance to the axis loads, adjustable pneumatic damping and can be easily found in the market. However, to use this solution it is necessary to use a “Multi-Position Kit”. This kit will dock the two cylinders coaxially, allowing four possible positions: a fall-back position and three forward positions, as shown in Fig. 9. The great advantage of these cylinders is their price.2.3.5. Option 2 - servo-pneumatic cylindersThis option satisfies the largest number of requirements initially drawn for this project. These cylinders have the particularity to ensure greater positioning accuracy and enable stopping in several positions along its path, contrary to conventional cylinders, which only allow the retreat and forward positions. These are standard cylinders with a positioning control, Fig. 10, which let a position accuracy of around 0.2 mm 24, thus ensuring the exact positioning of the holder at the desired position. The position versatility that these cylinders can oer, allows an exact following of the holding system during cutting process independently of cutting angle and this is undoubtedly a huge advantage. However, this system has a drawback: their high acquisition cost. Therefore, solutions must be found that could meet the needs, taking into account the system and budgeting constraints.Regarding these two driving system possibilities, it is possible to have at least two dierent manufacturing options. Figs. 11 and 12 presents the general view of the dierent driving systems. Due to the longest length of the servo cylinders, their assembly needs to respect the maximum length available. Thus, their position had to be con-veniently studied to get the cylinders holders into the space available (Fig. 11). The conventional cylinders have a lower length, allowingtheir assembly in parallel to the lateral faces of the machine body (Fig. 12).2.4. ResultsBased on the initial conditions and all work done, the holding system can be moved as follows: Solution 1 - conventional cylinders; Solution 2 - servo-pneumatic cylinders; Solution 3 - mixed version.2.4.1. Option 1 - conventional cylindersThis version consists of using four groups of two pneumatic cylinders assembled with “Multi-Position Kit”. The operation principle is the following: when the system is activated, all cylinders are extended to put the platform in the upper position, allowing achieves the correct plate placement (Fig. 13).Starting the cutting process, the cylinders of the side where the blade starts to cut begin to retract (Fig. 14).In order to accurately monitor the slope of the blade, the cylinders on the other side also retract, but slowly, allowing that the Z position of the holding system is in line with the point where the blade is cutting the sheet metal at each moment. At the end of the cutting process, the platform assumes a horizontal position and each cylinder assembly is retracted (Fig. 15).If it is necessary to continue to cut plates with a smaller thickness than 5 mm, the cylinders that support the front part of the dynamic holding system retract, causing the platform tilting and discharging the cut plate (Fig. 16).Fig. 5. Dynamic holding system evolution: (a) First and (b) final design.Fig. 6. Intended freedom degrees and restricted movements on the system. (For interpretation of the references to color in this figure, the reader is referred to the web version of this article).Fig. 7. First approach of the guiding system.Fig. 8. (a) Second approach of the guiding system and (b) final concept.After a few seconds, all cylinders are actuated again putting the holding system in the upper position. Otherwise, all cylinders recede to put the holding system in the rest position (Fig. 17).The great advantage of this option is that it uses conventionalcylinders that are easily found in the market at reasonable prices. As disadvantages, they present a very limited operation, since they only consent two positions, extended or retracted, not allowing control intermediate positions. In this case, a careful adjustment is also neededFig. 9. (a) Assembly of two cylinders with multi-position kit and (b) possible assembly positions 23.Fig. 10. Servo-pneumatic cylinder DNCI/DDPC provided by FESTO 24.Fig. 11. Pneumatic servo cylinders positioning.Fig. 12. Conventional cylinders positioning.Fig. 13. Conventional cylinder upper position.Fig. 14. Conventional cylinder intermediate position.Fig. 15. Conventional cylinder final cutting stage.in order to match the cylinders movement and the holder position with the descending blade and the cutting point.2.4.2. Option 2 servo-pneumatic cylindersThe operation principle is similar to that described in option 1. However, this option uses four servo-pneumatic cylinders. In the upper position, all cylinders are extended (Fig. 18).Starting the cutting process, the cylinders at the cutting side start to retract, following the angle of the blade (Fig. 19).At the end of the sheet metal cutting process, cylinders put the holding system in a horizontal position, slightly below the blade (Fig. 20).If the operator wishes to continue cutting sheets smaller than 5 mm thickness, the cylinders that support the holding system in the frontretract, leading to the platform tilt, which in turn leads to the sheet discharge by gravity (Fig. 21).If it is necessary to turn o the guillotine or to cut plates higher than 5 mm thickness, all cylinders retract, placing the platform in the rest position (Fig. 22).This system presents many benefits such as stop at intermediate positions or controlling the holder movement speed between stages. Other advantage of this option is the frontal discharge capability, because it is possible to give the order to raise the holder slightly above the “upper” position (Fig. 23).The back gauge automatically pushes the plate to the front side and the operator can receive the cut strip at the guillotine frontal side, avoiding wasting time to collect the plate at the back side.Fig. 16. Conventional cylinder discharge position.Fig. 17. Conventional cylinder rest position.Fig. 18. Servo-pneumatic cylinder upper position.2.4.3. Option 3 mixed versionOption 3 is a combination of the previous ones. This solution was idealized to enable the plate extraction by the machine front, which consists of using two sets of two cylinders with two multi-position kit and two servo-pneumatic cylinders. Thus, the operation is identical to that described in option 2, however, when the operator wishes to remove the plate by the machine front side, the servo-pneumatic cylinders are placed slightly above the “upper position”, causing the holder to be positioned somewhat in ramp (Fig. 24). This ramp position is very important to avoid the collision between the plate and lower blade when this is pushed to the front side. Furthermore, the servo-pneumatic cylinders will allow more accurate movements during the system operation。2.5. Comparing dierent solutionsRegarding the dierent options considered in this work, it is time to summarize the advantages and limitations of each device model allowing choose the best set of characteristics depending on the application and customer requirements. Thus, Table 1 intends to condense the main ideas about all the developments made.3. ConclusionsThis study is proposing a novel technical device for new shearing machines or machines already in service that will increase their productivity. The device consists of a novel holder which can be assembled in the back side of the shearing machines and, providedFig. 19. Servo-pneumatic cylinder intermediate position.Fig. 20. Servo-pneumatic cylinder final cutting stage.Fig. 21. Servo-pneumatic cylinder discharge position.Fig. 22. Servo-pneumatic cylinder rest position.Fig. 23. Servo-pneumatic cylinder frontal discharge position.Fig. 24. Option 3 upper position and frontal discharge position.Table 1Comparative table regarding the different options considered in this work.ConventionalServo-MixedcylinderspneumaticsolutioncylindersOption 1Option 2Option 3AdvantagesLow costPositioningFrontversatilityextractionHigh accuracyEasy installationAccuratefollowing cuttingFront extractionLimitations/Positioning limitationHigh costPositioningdrawbacksSpace available forlimitationcylinders installationwith four cylinders and a PLC (Programmable Logic Controller) properly programmed, allows a controlled movement of that holder which will accompany closely the evolution of the shear blade during the cutting process from one side to the other, avoiding deformations in the last portion of the cut strip when it is thin and wide. The following conclusions can be drawn: This technical device can be easily implemented in any shearing machine, new or already in service, does not needing changes in the general arrangement.This is an innovative system, able to be easily commercializedtogether or separately with the shearing machines. The final price of the system will be competitive, allowing strong savings in finishing operations when cutting thin sheet metal plates. The problem of sheet metal deformation on the last portion of the cut strip was eliminated, giving more profitability to shearing machines with this device. Furthermore, shearing machines produ-cers have a new device to commercialize and the customers have a new solution able to solve a systematic problem when cutting thin sheet metal plates. The best achieved solution is based in four servo-pneumatic cylinders, which allow a complete and coordinated movement of the holding system by adequate electronic control of the same. A low-cost solution can be adopted, using conventional cylinders and needing an accurate positioning control. All the solutions presented through this work are able to be used and a prototype has been built using the low cost solution, proving that it works very well, allowing dierent inclination speeds by program-ming the control unit. The adjustment of the position is made in real-time by the control unit through a feedback position signal. The maintenance of the system was thought in order to keep it simple; This novel device will help ensure the parallel arrangement between the front and the rear face of the cut metal strip which is the main purpose of this work.附录二一种用于薄金属板剪切机的新型动态保持系统摘 要金属剪切机是重型设备，由于采用少量技术设备，通常与低附加值相关。但是，这种情况可以通过设备设计师的创造力来改变。分析一些特定的操作，可以观察到，一些工具在与设备耦合时应大大提高切割工艺生产率和最终产品质量。关于薄金属板的剪切过程，可以发现，在切割最终阶段，切割材料的重量由仍需要切割的小材料部分悬挂。这会导致钢带尖端变形，从而导致最终产品质量不佳，无法保持完全规划。这项工作是围绕这个问题开发的，研究了开发一种能够避免切割后缺乏平板性的新工具的最佳解决方案。设计了一种新颖的设备，能够在整个切割操作后沿着刀片运动方便地连接到剪切机。该系统是全自动的，由机器操作员提供的单一切割指令操作。该系统允许制造公司增加每台机器的附加价值，为客户提供先进和理想的解决方案，并为公司业务的可持续性做出贡献。关键词：剪板机切割工艺聚合工具 钣金切割可持续性设计1.介绍虽然作为一种旧技术，但是落料仍然是当今金属加工行业中最常用的切割工艺之一1。这项技术是在许多年前研究的，但最近的发展带来了新的挑战，例如将有限元模型适用于这些技术，以预测新材料行为，探索过程容量，重点在于提高生产率并实施新设备，关于新的市场要求和期望的质量改进。因此，一些研究已经由不同的作者进行，即在参数改善的领域，Breitling等人2 探索该过程的竞争力并研究消隐速度，结果表明消隐速度随着消隐速度的增加在1-4ms范围内下降，结果证实了Goijaerts等人的结论。3在0.01-1000mm的范围内。Neugebauer等进行了进一步的研究。4和Subramonian等人。5当使用高速机械压力机时，冲裁速度增加时动态效果更高。Mackensen等人6研究了冲头倾斜角度，得出当冲头倾斜角度上升时切削力较低。但是，较高的冲头倾斜角会导致空卷曲。正如其他作者所提到的79，通过冲头形状的优化可以实现冲切部分的更好的几何精度并清除.然而，仍然清楚的是，诸如刀具磨损状态，间隙，刀具半径和几何形状，材料几何形状，金属板厚度，摩擦，与切削相关的材料性质（延展性和硬度），金属片涂层，润滑用途，冲程率而冲裁速度是影响剪切边缘方面的关键因素10。热效应也被深入研究，以便将温度与冲切力相关联1113导致材料温度升高时消隐力下降。这些研究包括预热过程，以引导材料温度达到不同的水平，并测量切割不同材料所需的冲切力。在分析和数值方法领域进行了许多其他研究，试图获得可靠的模型，帮助研究人员预测关于不同材料和切削条件的冲裁操作效果10,1416。然而，尽管有这些强大的优点，但由于剪切带形成的狭窄和缺乏合适的断裂准则，下料切削过程仍然是一个有吸引力的问题。断头台切割工艺也是金属加工行业使用的最下冲工艺之一。为了获得最终产品，原材料需要经过许多过程，通常是切断其中的一个。这种切割过程可以手动或自动完成，并可以作为初始，中间或结尾步骤进行集成17。断头台切割工艺原理，如图所示图1包括将板定位在固定刀片和可移动刀片之间，向下移动穿透板，并且当其超过剪切拉伸强度时，板被切割。图1.断头台切割工艺方案18尽管刀片的操作特性直接影响最终切割质量，但这种切割原理横向于不同类型的剪切机。虽然断头台切割的表面质量不能与机加工相媲美，但这是获得直线形状的最经济的切割方法19,20。切割过程有一些典型的相关缺陷，其中大部分与框架变形，刀片间隙或不正确的切割角度调节有关。无论如何，这些问题中的大多数已经被制造商提供的一些设备作为选择已经被固定或削弱。众所周知，质量较高的切割表面将避免后续的抛光操作，以及切割精度对于保留在工作台中的印版是不同的，并且切割条不通过压紧千斤顶保持或固定的切割条倾向于在切割过程中弯曲或扭曲，产生如图所示的缺陷图2。图2.断头台切割过程的典型缺陷19弓是在切割过程中由可移动刀片的渐进作用导致的切割典型缺陷。切割好的条带在没有支撑的情况下被分离，在自重下弯曲20。条形弓变得更明显，切割宽度越小，切割角度越大。但是，减小切割角度可以减小但不能完全消除弯曲19。扭曲是一种缺陷，被描述为倾向于将切割材料卷曲成螺旋状。高切割角度通常与扭转缺陷相关，扭转缺陷也是板材内部应力的结果。这种效果在窄条中更为明显，是最后一种更容易获得永久变形的耐磨带材20。曲面是由条带分离产生的缺陷，主要由材料内部应力引起19,21,22。2.方法和结果本节分为三个小节：首先确定问题，然后是最初设计的解决方案以消除问题，最后介绍采用的解决方案来解决问题。如前所述，剪切过程有一些典型的限制，但其中一些已被剪切机制造商解决。这个问题影响了使用断头台切割高长度薄板的客户。第二小节将讨论想要消除问题的主要初始思想，并提供一些解决方案，但只有一个解决方案呈现最佳成本-关系。因此，在第三小节中，描述了所采用的解决方案，以及从初始设计到最终设计的一些变化。2.1问题在薄板切割过程中，检测到一个非常特殊的问题，这是在切割厚度小于3毫米，长度大于700毫米的薄片时发生的。由于切割过程是用编程的刀片斜面进行的，这会导致后一个切割片部分的翘曲（图3a），由已经切割的片材的重量引起，这在尚未切割的小区域处导致高弯曲应力，如图3这种情况可以防止将截切机直接包含在生产线中，因为在纸张传递到另一个加工步骤之前，拉直操作是强制性的。在不断切割具有上述尺寸特征的印版时，这种缺点是一个主要的尴尬和烦恼，导致生产率降低。 市场上有一些配件可以减少这种缺陷。但是，在切割过程中，动态保持器的整合只是预期完全消除这种缺陷。图3.传统缺陷（a）和高应力集中（红色区域）（b）2.2途径图4展示了构思平台的三维模型，能够在断头台结构上进行组装，这使得可以对预期的事物给出真实的看法，并且体现了检测待改进问题的好方法。 该平台由一个由四个气压缸组成的框架组成，其中一个导向系统可以使结构上下移动以及倾斜，但总是不会执行水平运动而导致撞击断头台的主框架。图4.初步支架版本的等轴测图（a）和分解图（b）该设备的主要目标是与生产中的新的铡刀兼容，并且已经在市场上销售大部分铡刀，从而可以轻松地将该设备适配于它们。2.3方法2.3.1动态持有人动态支架将在切割过程中支撑切割条，第一种设计是一种简单的板，顶部有中间加强管和方形管，但这种结构在维护操作和气瓶检查时显示为非常沉重，要求拆除整个保持系统来修理和检查任务（图5一个）。模块化机箱包括两个可移动的盘子，围绕中央一个（图5b），可以接近气瓶并减少结构的重量，从而便于组装和维护程序。可拆卸板紧固系统由埋头螺栓和螺母构成。由于保持架静止位置中保持架与地面之间的空间受到限制，所以螺母被焊接以便于拆卸盖板。图5.动态保持系统演化：（a）第一和（b）nal设计2.3.2引导系统首先，有必要解释为什么这个系统需要一个指南。在图6用绿色箭头指出预期的自由度，而红色的十字指示由导向系统促进的限制性运动。图6.预期的自由度和系统受限制的运动第一个开发的设计如图所示图7 其工作原理是基于夹具两侧的两组两个定位轴承。轴承A限制水平运动，同时轴承B将保持系统保持在正确的垂直路径中。图7.引导系统的第一种方法。因此，在这个阶段，系统需要改进，因为它很难制造，最终成本会高于预期。 该设计已经重新考虑，现在它将包括在支架下方使用中央导轨，使用杆端轴承将夹持系统保持在正确的位置，同时为系统倾斜运动提供必要的自由度。杆端轴承允许在切割过程和旋转过程中倾斜以提取带材或将夹持系统保持在静止位置。 这个新系统的一个薄弱环节与负责竖直运动的方轴和轴套有关，这些轴很难制造。因此，方轴和衬套被直线导向器取代。 这种改变使得该系统完全标准化，并且最终结果是易于制造的系统，其中可以容易地更换所有部件图8.图8.（a）指导系统的第二种方法和（b）最终概念2.3.3驱动系统驱动系统是该项目最重要的部分之一，因为它代表了最大的相关成本。因此，要选择正确的一个，有必要关注所需的位置：上位。 在这个位置上，动态保持系统与铡刀台处于同一水平面，使用后备系统确保水平板位
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