加工中心机械桁架机械手的设计与结构分析_CNC加工中心

前言：

伯特利数控</a><span style="text-align: center;"> 备注：为保证文章的完整度，本文核心内容都PDF格式显示，如未有显示请刷新或转换浏览器尝试，手机浏览可能无法正常使用！</span></p> <p style="text-align: left;"> </p> <p style="text-align: left;">1. 总体结构<br /> 加工中心桁架机械手的设计和分析，可以从两部分分析，一部分是桁架，另一部分是机械手，对于桁架的分析，可以简化成梁的分析，它的机构就类似于力学当中的结构梁，从力学的角度分析，可以将加工中心桁架与简支梁做横向对比，可以通过简支梁的弯矩图分析桁架，增加机械手对桁架的作用力，我们可以画出如图i所示的力学分析图。在^1床士桁架机械手有着很高的耍求，要求机械手有着效率高、可靠性强的要求，对于桁架的立柱选择，它耍使桁架支撑稳定，同时也要节省加工中心的整体空间，而对于大多数立柱的结构，都选取钢结构。</p> <p class="MsoNormal" style="margin-bottom:9.0pt;text-indent:23.0pt;line-height:
7.5pt;mso-line-height-rule:exactly"><span class="151Exact1"><span lang="EN-US" style="font-size:7.5pt;mso-ansi-language:EN-US;mso-fareast-language:EN-US;
mso-bidi-language:EN-US">2.</span></span><span class="151Exact1"><span style="font-size:7.5pt">机械手及手臂</span></span></p> <p class="MsoNormal" style="text-indent:23.0pt;line-height:8.0pt;mso-line-height-rule:
exactly"><span class="109TimesNewRoman5"><span style="font-size:7.5pt;mso-fareast-font-family:
MingLiU">11</span></span><span class="109Exact2"><span style="font-size:8.0pt">机械手</span></span></p> <p class="MsoNormal" style="text-indent:23.0pt;line-height:13.45pt;mso-line-height-rule:
exactly"><span class="109Exact2"><span style="font-size:8.0pt">桁架机械手的作用就是起到运输的作用，它是使工件在上下料的轨道与加工中心内之间移动，将加工后的零件从加工中心上拿出，再将要加工的零件从轨道上拿起，放到加工中心上。主要的动作就是：爪张开，抓取，升降，左右移动。对于机械手的手爪设计有很多种方案和形式，可以根据不同的需求，选择不同的设计方法。如图</span></span><span class="109TimesNewRoman5"><span style="font-size:7.5pt;mso-fareast-font-family:
MingLiU">2</span></span><span class="109Exact2"><span style="font-size:8.0pt">所示。</span></span></p> <p> </p> <p class="MsoNormal" style="text-align:justify;text-justify:inter-ideograph;
text-indent:23.0pt;line-height:13.45pt;mso-line-height-rule:exactly"><span class="109TimesNewRoman5"><span lang="EN-US" style="font-size:7.5pt;mso-fareast-font-family:
MingLiU;mso-ansi-language:EN-US;mso-fareast-language:EN-US;mso-bidi-language:
EN-US">(1)</span></span><span class="109Exact2"><span style="font-size:8.0pt">机械自锁手爪：对于这种结构，设计者们非常喜欢，因为这种结构很受消费者的喜欢，它的结构比较简单</span></span><span class="109TimesNewRoman5"><span style="font-size:7.5pt;mso-fareast-font-family:
MingLiU">.</span></span><span class="109Exact2"><span style="font-size:8.0pt">但是在对抓取上也做了复杂的设计.为了防止在夹持</span></span><span class="109Exact2"><span style="font-size:8.0pt">零件时候脱落</span></span><span class="109TimesNewRoman5"><span style="font-size:7.5pt;mso-fareast-font-family:
MingLiU">.</span></span><span class="109Exact2"><span style="font-size:8.0pt">增加了自锁装置。</span></span></p> <p class="MsoNormal" style="text-indent:20.0pt;line-height:13.45pt;mso-line-height-rule:
exactly"><span class="109Exact2"><span style="font-size:8.0pt">连杆杠杆式手爪：这种结构可以从名字上得到启发，它的设计就是利用机械连杆机构，通过连杆和杠杆的传递</span></span><span class="109TimesNewRoman5"><span style="font-size:7.5pt;mso-fareast-font-family:
MingLiU">.</span></span><span class="109Exact2"><span style="font-size:8.0pt">使手爪夹持和松开</span></span><span class="109TimesNewRoman5"><span style="font-size:7.5pt;mso-fareast-font-family:
MingLiU">.</span></span><span class="109Exact2"><span style="font-size:8.0pt">但这种机构有一个缺点，就是夹持力比较大。</span></span></p> <p class="MsoNormal" style="text-align:justify;text-justify:inter-ideograph;
text-indent:20.0pt;line-height:13.2pt;mso-line-height-rule:exactly"><span class="109Exact2"><span style="font-size:8.0pt">齿轮齿条式手爪：这种机构的传递性最好，动作反应速度最快，它是通过齿轮之间的传动来控制手爪，可以实现速度上的突破。</span></span></p> <p class="MsoNormal" style="text-indent:20.0pt;line-height:13.2pt;mso-line-height-rule:
exactly"><span class="113Exact7"><span lang="EN-US" style="font-size:7.5pt;
mso-fareast-font-family:MingLiU">2.2</span></span><span class="113MingLiU13"><span style="font-size:8.0pt">手臂</span></span></p> <p class="MsoNormal" style="text-align:justify;text-justify:inter-ideograph;
text-indent:20.0pt;line-height:13.45pt;mso-line-height-rule:exactly"><span class="109Exact2"><span style="font-size:8.0pt">对于桁架上机械手的手臂设计时，要考虑机械手臂的载荷，在运动上要实现快速运动，但在机构上也要能承受力。在加工中心桁架上的机械手一般做直线运动，所以在考虑手臂设计时候</span></span><span class="109TimesNewRoman5"><span lang="EN-US" style="font-size:7.5pt;mso-fareast-font-family:
MingLiU;mso-ansi-language:EN-US;mso-fareast-language:EN-US;mso-bidi-language:
EN-US">.</span></span><span class="109Exact2"><span style="font-size:8.0pt">一般选择液压直接驱动手臂，在机械手臂的液压缸选用上</span></span><span class="109TimesNewRoman5"><span style="font-size:7.5pt;mso-fareast-font-family:
MingLiU">.</span></span><span class="109Exact2"><span style="font-size:8.0pt">要使液压缸的直径大一些，这样手臂的整体强度比较高.而对于液压缸的校核可以通过以下公式进行核对：</span></span></p> <p class="MsoNormal" style="margin-bottom:8.55pt;text-indent:20.0pt;line-height:
13.45pt;mso-line-height-rule:exactly"><span class="109Exact2"><span style="font-size:8.0pt">活塞杆直径的校核公式：</span></span></p> <p class="MsoNormal" style="margin-bottom:9.3pt;line-height:6.5pt;mso-line-height-rule:
exactly"><span class="208Exact"><span lang="EN-US" style="font-size:6.5pt;
mso-fareast-font-family:MingLiU">d>L</span></span></p> <p class="MsoNormal" style="margin-bottom:3.55pt;text-indent:20.0pt;line-height:
8.5pt;mso-line-height-rule:exactly"><span class="109Exact2"><span style="font-size:8.0pt">式中：</span></span><span class="109Arial1"><span lang="EN-US" style="font-size:8.5pt">F</span></span><span class="109Exact2"><span style="font-size:8.0pt">活塞杆上的作用力；</span></span><span class="109Exact2"><span lang="EN-US" style="font-size:8.0pt;mso-ansi-language:EN-US;mso-fareast-language:
EN-US;mso-bidi-language:EN-US">[<sub>ff</sub>]—</span></span><span class="109Exact2"><span style="font-size:8.0pt">活塞杆材料</span></span></p> <p class="MsoNormal" style="margin-bottom:1.7pt;line-height:8.0pt;mso-line-height-rule:
exactly"><span class="109Exact2"><span style="font-size:8.0pt">的许用应力。</span></span></p> <p class="MsoNormal" style="margin-bottom:23.65pt;text-indent:20.0pt;line-height:
8.0pt;mso-line-height-rule:exactly"><span class="109Exact2"><span style="font-size:8.0pt">缸体壁厚的校核公式：</span></span></p> <p class="MsoNormal" style="margin-top:0cm;margin-right:0cm;margin-bottom:4.15pt;
margin-left:35.0pt;line-height:10.0pt;mso-line-height-rule:exactly"><span class="60ptExact9"><sup><span lang="EN-US" style="font-size:10.0pt;mso-ansi-language:
EN-US;mso-fareast-language:EN-US;mso-bidi-language:EN-US">2</span></sup></span><span class="6TimesNewRoman15"><span lang="EN-US" style="font-size:9.5pt;mso-fareast-font-family:
MingLiU">UH</span></span><span class="60ptExact9"><span lang="EN-US" style="font-size:10.0pt;mso-ansi-language:EN-US;mso-fareast-language:EN-US;
mso-bidi-language:EN-US">-</span></span><span class="6TimesNewRoman14"><span lang="EN-US" style="font-size:9.5pt;mso-fareast-font-family:MingLiU">i</span></span><span class="60ptExact9"><span lang="EN-US" style="font-size:10.0pt;mso-ansi-language:
EN-US;mso-fareast-language:EN-US;mso-bidi-language:EN-US">-3^ </span></span><span class="6TimesNewRoman15"><span lang="EN-US" style="font-size:9.5pt;mso-fareast-font-family:
MingLiU">J</span></span></p> <p class="MsoNormal" style="text-indent:20.0pt;line-height:13.45pt;mso-line-height-rule:
exactly"><span class="109Exact2"><span style="font-size:8.0pt">式中：</span></span><span class="109Arial1"><span lang="EN-US" style="font-size:8.5pt">D</span></span><span class="109Exact2"><span style="font-size:8.0pt">一</span></span><span class="109TimesNewRoman5"><span style="font-size:7.5pt;mso-fareast-font-family:
MingLiU">^</span></span><span class="109Exact2"><span style="font-size:8.0pt">缸筒内径；</span></span><span class="109Arial1"><span lang="EN-US" style="font-size:8.5pt">p<sub>y</sub></span></span><span class="109Exact2"><span style="font-size:8.0pt">缸筒的试验压力。</span></span></p> <p class="MsoNormal" style="margin-bottom:7.35pt;text-align:justify;text-justify:
inter-ideograph;text-indent:20.0pt;line-height:13.45pt;mso-line-height-rule:
exactly"><span class="109Exact2"><span style="font-size:8.0pt">桁架机械手的运动为机械手在桁架上做水平运动，到达指定位置后，机械手下降运动，手爪夹紧工件，带动工件上升</span></span><span class="109TimesNewRoman5"><span style="font-size:7.5pt;mso-fareast-font-family:
MingLiU">.</span></span><span class="109Exact2"><span style="font-size:8.0pt">逆向运动，将零件放置到轨道上，手爪松开，在这个期间内，有几个位置</span></span><span class="109TimesNewRoman5"><span lang="EN-US" style="font-size:7.5pt;mso-fareast-font-family:
MingLiU;mso-ansi-language:EN-US;mso-fareast-language:EN-US;mso-bidi-language:
EN-US">PLC</span></span><span class="109Exact2"><span style="font-size:8.0pt">控制限位器，分别在机械手的下降和上升停止的时候。在机械手将零件从加工中心夹持时候，下一个工件到待定区域，机械手结束这个动作后，回到待加工零件位置处</span></span><span class="109TimesNewRoman5"><span style="font-size:7.5pt;mso-fareast-font-family:
MingLiU">.</span></span><span class="109Exact2"><span style="font-size:8.0pt">机械手下降，夹持零件，将零件放置到加工中心内，机械手回到初始位置，</span></span><span class="109TimesNewRoman5"><span lang="EN-US" style="font-size:7.5pt;mso-fareast-font-family:
MingLiU;mso-ansi-language:EN-US;mso-fareast-language:EN-US;mso-bidi-language:
EN-US">PLC</span></span><span class="109Exact2"><span style="font-size:8.0pt">停止脉冲输出，加工中心进行加工，机械手完成运动</span></span><span class="109TimesNewRoman5"><span style="font-size:7.5pt;mso-fareast-font-family:
MingLiU">.</span></span><span class="109Exact2"><span style="font-size:8.0pt">桁架机械手往返做以上运动。</span></span></p> <p class="MsoNormal" style="margin-bottom:4.8pt;text-indent:20.0pt;line-height:
8.0pt;mso-line-height-rule:exactly"><span class="109TimesNewRoman5"><span lang="EN-US" style="font-size:7.5pt;mso-fareast-font-family:MingLiU;mso-ansi-language:
EN-US;mso-fareast-language:EN-US;mso-bidi-language:EN-US">3.</span></span><span class="109Exact2"><span style="font-size:8.0pt">驱动系统</span></span></p> <p class="MsoNormal" style="text-indent:20.0pt;line-height:13.45pt;mso-line-height-rule:
exactly"><span class="109Exact2"><span style="font-size:8.0pt">对于加工中心桁架机械手驱动方式的选择可分为回转型和移动型，是通过手指的方法区分，要是通过机械手夹持的</span></span><span style="font-size: 8pt; text-align: justify;">不同可以分为内外两种。</span></p> <p class="MsoNormal" style="text-align:justify;text-justify:inter-ideograph;
text-indent:25.0pt;line-height:13.45pt;mso-line-height-rule:exactly"><span class="109TimesNewRoman5"><span lang="EN-US" style="font-size:7.5pt;mso-fareast-font-family:
MingLiU;mso-ansi-language:EN-US;mso-fareast-language:EN-US;mso-bidi-language:
EN-US">(</span></span><span class="109TimesNewRoman5"><span style="font-size:
7.5pt;mso-fareast-font-family:MingLiU">1 </span></span><span class="109TimesNewRoman5"><span lang="EN-US" style="font-size:7.5pt;mso-fareast-font-family:
MingLiU;mso-ansi-language:EN-US;mso-fareast-language:EN-US;mso-bidi-language:
EN-US">)</span></span><span class="109Exact2"><span style="font-size:8.0pt">气动驱动方式：</span></span><span class="109Exact2"><span style="font-size:8.0pt">这种控制方式是通过电磁阀来控制机械手.在通过利用气流调节阀来控制机械手的运动速度，这种驱动的成本比较低，因为得到气体成本低。</span></span></p> <p class="MsoNormal" style="margin-left:0cm;text-align:justify;text-justify:inter-ideograph;
text-indent:25.0pt;line-height:13.45pt;mso-line-height-rule:exactly;mso-list:
l0 level1 lfo1"><span lang="EN-US" style="font-size:7.5pt;
font-family:"Times New Roman","serif";mso-fareast-font-family:"Times New Roman";
mso-ansi-language:EN-US;mso-fareast-language:EN-US;mso-bidi-language:EN-US">(2)<span style="font-variant-numeric: normal; font-stretch: normal; font-size: 7pt; line-height: normal; font-family: "Times New Roman";">      </span></span><span class="109Exact2"><span style="font-size:
8.0pt">电动驱动方式：</span></span><span class="109Exact2"><span style="font-size:8.0pt">在加工中心桁架机械手设计上，</span></span><span class="109Exact2"><span style="font-size:8.0pt">这种驱动方式使用最频繁，因为加工中心也需要用电，而这驱动系统只是需要利用电机，就可以达到速度上的控制。</span></span></p> <p class="MsoNormal" style="margin-bottom:6.15pt;text-align:justify;text-justify:
inter-ideograph;text-indent:25.0pt;line-height:13.45pt;mso-line-height-rule:
exactly"><span class="109TimesNewRoman5"><span lang="EN-US" style="font-size:7.5pt;
mso-fareast-font-family:MingLiU;mso-ansi-language:EN-US;mso-fareast-language:
EN-US;mso-bidi-language:EN-US">(</span></span><span class="109TimesNewRoman5"><span style="font-size:7.5pt;mso-fareast-font-family:MingLiU">3</span></span><span class="109Exact2"><span style="font-size:8.0pt">广液压驱动方式：液压驱动方式是通过液压系统进行控制，它的好处就是可以实现连续位置控制，同时传动刚度也大</span></span><span class="109TimesNewRoman5"><span style="font-size:7.5pt;mso-fareast-font-family:
MingLiU">.</span></span><span class="109Exact2"><span style="font-size:8.0pt">液压驱动一般选择液压马达作为动力源，液压驱动元件的特点见表</span></span><span class="109TimesNewRoman5"><span style="font-size:7.5pt;mso-fareast-font-family:
MingLiU">1,:</span></span></p> <p class="MsoNormal" style="margin-bottom:4.95pt;text-align:justify;text-justify:
inter-ideograph;text-indent:20.0pt;line-height:9.5pt;mso-line-height-rule:exactly"><span class="310ptExact1"><span style="font-size:9.5pt">结语</span></span></p> <p class="MsoNormal" style="text-align:justify;text-justify:inter-ideograph;
text-indent:20.0pt;line-height:13.2pt;mso-line-height-rule:exactly"><span class="109Exact2"><span style="font-size:8.0pt">随着国内不断地发展，劳动力成本的不断提升，加工中心在自动化行业欢迎程度也随之提高</span></span><span class="109Exact2"><span lang="EN-US" style="font-size:8.0pt;mso-ansi-language:EN-US;
mso-fareast-language:EN-US;mso-bidi-language:EN-US">.</span></span><span class="109Exact2"><span style="font-size:8.0pt">但同时也要将加工中心的配套设施提高上去，尤其对于生产大批零件，机械手也变得尤为重要。对于现代工业发展来说，机械手的发展速度还是不是很快，对于机械手的控制上要采用</span></span><span class="109TimesNewRoman5"><span lang="EN-US" style="font-size:7.5pt;mso-fareast-font-family:
MingLiU;mso-ansi-language:EN-US;mso-fareast-language:EN-US;mso-bidi-language:
EN-US">p</span></span><span class="109Exact2"><sub><span lang="EN-US" style="font-size:8.0pt;mso-ansi-language:EN-US;mso-fareast-language:EN-US;
mso-bidi-language:EN-US">LC</span></sub></span><span class="109Exact2"><span style="font-size:8.0pt">控制是最方便的，而对于机械手的发展要不断去开发，团结思想，通过集体设计者们的努力，不要客观地设计，要将多元素有机结合起来。</span></span></p> <p style="text-align: center;"><strong>：</strong></p> <p> </p><p> </p> <p> </p> <p>伯特利数控是一家集销售、应用及服务于一体的公司。产品包括：<a href="http://www.bethel-cnc.com/"><strong>CNC加工中心</strong></a>、<a href="http://www.bethel-cnc.com/bethel/cnc/show_37.html"><strong>钻攻中心</strong></a>、<a href="http://www.bethel-cnc.com/bethel/cnc/show_435.html"><strong>龙门加工中心</strong></a>、<a href="http://www.bethel-cnc.com/bethel/cnc/show_431.html"><strong>雕铣机</strong></a>、<a href="http://www.bethel-cnc.com/bethel/cnc/show_432.html"><strong>石墨机</strong></a>、<a href="http://www.bethel-cnc.com/bethel/cnc/show_441.html"><strong>五轴加工中心</strong></a>、<a href="http://www.bethel-cnc.com/bethel/cnc/show_39.html"><strong>立式加工中心</strong></a>、<a href="http://www.bethel-cnc.com/bethel/cnc/show_440.html"><strong>卧式加工中心</strong></a>等。我们机床的生产工厂设在广东省东莞市，目前其生产的<a 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target='_blank'>加工中心</a>  <small>相关内容</small></a></h3> <p></p> <span>——</span> </div>  <hr class="featurette-divider"> <div class="container list-container">  <div class="news-list list-border list-border-w"> <div class="list-date"> <span>11</span> <p>2024-12</p> </div> <h4><a title="U600S五轴加工中心视频" href="/bethel/video/show-3042.html" target="_blank">U600S五轴加工中心视频</a></h4> <p>此视频详细介绍了U600S高性能五轴加工中心各种参数及说明！… <a href="/bethel/video/show-3042.html" target="_blank">[了解更多]</a></p> </div> <div class="news-list list-border list-border-w"> <div class="list-date"> <span>05</span> <p>2024-11</p> </div> <h4><a title="六角亭五轴加工工艺" href="/bethel/5-aix/show-2966.html" target="_blank">六角亭五轴加工工艺</a></h4> <p>本文以组合式六角亭模型为实例，分析工艺难点与加工可行性，指出该模型的加工难点是模型形状不规则和整体刚性差，并通过设计新的工艺方案解决加工难点，完成了模型整体的加工。新的加工工艺有助于提高加工效率和精度，为五轴数控加工提供了一个典型案例，对于五轴加工中心数控加工也具有指导作用和重要… <a href="/bethel/5-aix/show-2966.html" target="_blank">[了解更多]</a></p> </div> <div class="news-list list-border list-border-w"> <div class="list-date"> 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(' class="' + opts.cls + '"') : ''; var $div = $('<div' + id + cls + '>'); // swfobject v2+ if (window.swfobject) { $(el).after($div).appendTo($div); if (!el.id) el.id = 'movie_player_' + counter++; // replace el with swfobject content window.swfobject.embedSWF(opts.src, el.id, opts.width, opts.height, opts.flashVersion, opts.expressInstaller, opts.flashvars, opts.params, opts.attrs); } // swfobject < v2 else { $(el).after($div).remove(); var so = new SWFObject(opts.src, 'movie_player_' + counter++, opts.width, opts.height, opts.flashVersion, opts.bgColor); if (opts.expressInstaller) so.useExpressInstall(opts.expressInstaller); for (p in opts.params) if (p != 'bgColor') so.addParam(p, opts.params[p]); for (f in opts.flashvars) so.addVariable(f, opts.flashvars[f]); so.write($div['0']); } if (opts.caption) $('<div>').appendTo($div).html(opts.caption); return $div; }; // map flv and mp3 files to the swf player by default $.fn.media.flv = $.fn.media.mp3 = function(el, opts) { var src = opts.src; var player = /\.mp3\b/i.test(src) ? opts.mp3Player : opts.flvPlayer; var key = opts.flvKeyName; src = encodeURIComponent(src); opts.src = player; opts.src = opts.src + '?'+key+'=' + (src); var srcObj = {}; srcObj[key] = src; opts.flashvars = $.extend({}, srcObj, opts.flashvars ); return $.fn.media.swf(el, opts); }; // // Silverlight // $.fn.media.xaml = function(el, opts) { if (!window.Sys || !window.Sys.Silverlight) { if ($.fn.media.xaml.warning) return; $.fn.media.xaml.warning = 1; alert('You must include the Silverlight.js script.'); return; } var props = { width: opts.width, height: opts.height, background: opts.bgColor, inplaceInstallPrompt: opts.silverlight.inplaceInstallPrompt, isWindowless: opts.silverlight.isWindowless, framerate: opts.silverlight.framerate, version: opts.silverlight.version }; var events = { onError: opts.silverlight.onError, onLoad: opts.silverlight.onLoad }; var id1 = el.id ? (' id="'+el.id+'"') : ''; var id2 = opts.id || 'AG' + counter++; // convert element to div var cls = opts.cls ? (' class="' + opts.cls + '"') : ''; var $div = $('<div' + id1 + cls + '>'); $(el).after($div).remove(); Sys.Silverlight.createObjectEx({ source: opts.src, initParams: opts.silverlight.initParams, userContext: opts.silverlight.userContext, id: id2, parentElement: $div['0'], properties: props, events: events }); if (opts.caption) $('<div>').appendTo($div).html(opts.caption); return $div; }; // // generate object/embed markup // function generate(el, opts, player) { var $el = $(el); var o = $.fn.media.defaults.players[player]; var a, key, v; if (player == 'iframe') { o = $('<iframe' + ' width="' + opts.width + '" height="' + opts.height + '" >'); o.attr('src', opts.src); o.css('backgroundColor', o.bgColor); } else if (player == 'img') { o = $('<img>'); o.attr('src', opts.src); if (opts.width) o.attr('width', opts.width); if (opts.height) o.attr('height', opts.height); o.css('backgroundColor', o.bgColor); } else if (lameIE) { a = ['<object width="' + opts.width + '" height="' + opts.height + '" ']; for (key in opts.attrs) a.push(key + '="'+opts.attrs[key]+'" '); for (key in o.ieAttrs || {}) { v = o.ieAttrs[key]; if (key == 'codebase' && window.location.protocol == 'https:') v = v.replace('http','https'); a.push(key + '="'+v+'" '); } a.push('></ob'+'ject'+'>'); var p = ['<param name="' + (o.oUrl || 'src') +'" value="' + opts.src + '">']; for (key in opts.params) p.push('<param name="'+ key +'" value="' + opts.params[key] + '">'); o = document.createElement(a.join('')); for (var i=0; i < p.length; i++) o.appendChild(document.createElement(p[i])); } else if (opts.standards) { // Rewritten to be standards compliant by Richard Connamacher a = ['<object type="' + o.mimetype +'" width="' + opts.width + '" height="' + opts.height +'"']; if (opts.src) a.push(' data="' + opts.src + '" '); if (msie) { for (key in o.ieAttrs || {}) { v = o.ieAttrs[key]; if (key == 'codebase' && window.location.protocol == 'https:') v = v.replace('http','https'); a.push(key + '="'+v+'" '); } } a.push('>'); a.push('<param name="' + (o.oUrl || 'src') +'" value="' + opts.src + '">'); for (key in opts.params) { if (key == 'wmode' && player != 'flash') // FF3/Quicktime borks on wmode continue; a.push('<param name="'+ key +'" value="' + opts.params[key] + '">'); } // Alternate HTML a.push('<div><p><strong>'+o.title+' Required</strong></p><p>'+o.title+' is required to view this media. <a href="'+o.pluginspage+'">Download Here</a>.</p></div>'); a.push('</ob'+'ject'+'>'); } else { a = ['<embed width="' + opts.width + '" height="' + opts.height + '" style="display:block"']; if (opts.src) a.push(' src="' + opts.src + '" '); for (key in opts.attrs) a.push(key + '="'+opts.attrs[key]+'" '); for (key in o.eAttrs || {}) a.push(key + '="'+o.eAttrs[key]+'" '); for (key in opts.params) { if (key == 'wmode' && player != 'flash') // FF3/Quicktime borks on wmode continue; a.push(key + '="'+opts.params[key]+'" '); } a.push('></em'+'bed'+'>'); } // convert element to div var id = el.id ? 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