角钢自动码垛机的结构分析与优化设计

发布时间：2018-06-18 22:34

本文选题：角钢自动码垛机 + 机构优化　；参考：《华北理工大学》2015年硕士论文

【摘要】：在自动化程度日益提高的钢铁企业,很多环节的生产效率和生产质量都得到明显改善,但是仍有部分环节自动化程度还很低,制约着企业的生产效率,角钢的码垛环节就是其中一个。基于上述问题,提出一种二自由度并联角钢自动码垛机。该角钢自动码垛机结构简单、体积小、运动速度快、动作准确,能够有效提高生产效率及生产质量,解决现有码垛机运动速度慢、动作不准确、生产效率低下的难题。和串联机构相比,并联角钢自动码垛机刚度大,能够承受更大的力矩和力。课题主要以二自由度并联角钢自动码垛机为研究对象,依据几何投影学,将二自由度并联角钢自动码垛机等效成平面机构,对其进行运动学分析和奇异性分析。结合实际分析数据,对角钢自动码垛机进行结构优化,根据导轨倾斜角度和运动学参数的关系,最终对其导轨进行倾斜设计。运用虚拟机构法,构造等效机构,建立角钢自动码垛机的三维空间坐标模型,再根据转化关系,将三维模型转化为易于理解的平面图,最后得出角钢自动码垛机的尺寸设计空间。运用极限圆法对角钢自动码垛机的理论工作空间进行研究,得到不同形状的理论工作空间,根据连杆的长度范围,确定最优的理论工作空间。运用多项式曲线法、正弦曲线法、修正梯形曲线法对角钢自动码垛机末端执行机构的加速度进行研究,得出各个方法最大加速度的表达式。根据实际情况,确定角钢码垛机的运行周期和运行路径,最后根据实际情况选用最适合角钢自动码垛机轨迹规划的方法,同时也对轨迹规划曲线进行圆弧优化。运用拉格朗日法对角钢自动码垛机进行动力学分析,建立逆解模型和动力学方程,求出滑块的驱动力。根据丝杠的轴向载荷、伺服电机瞬时最大输出扭矩,选取适合该机构的伺服电机。根据上述理论分析,角钢自动码垛机和实际工况相符,运行高效、平稳,能够促进钢铁企业生产效率的提高,同时也对钢铁企业自动化程度的加深有着重大意义。
[Abstract]:In the iron and steel enterprises with increasing automation, the production efficiency and production quality of many links have been obviously improved, but there are still some links in the low degree of automation, which restricts the production efficiency of the enterprises. The stacking link of the angle steel is one of them. Based on the above questions, a two degree of freedom parallel angle stack of parallel angle steel is proposed. The angle steel automatic palletizing machine is simple in structure, small in size, fast in motion and accurate in movement. It can effectively improve production efficiency and production quality, solve the problem of slow motion speed, inaccurate movement and low production efficiency of the existing stacker. Compared with the series mechanism, the parallel angle steel palletizing machine has a large rigidity and can bear greater torque and force. The subject takes two degrees of freedom parallel angle steel palletizing machine as the research object. According to the geometric projection, the two degree of freedom parallel angle steel palletizing machine is equivalent to a plane mechanism, and the kinematics analysis and singularity analysis are carried out. The structure optimization of the angle steel automatic stacker is optimized with the actual analysis data, according to the angle of the guide rail and the angle of the guide. With the relationship of kinematic parameters, the design of the guide rail is finally inclined. Using the virtual mechanism method, the equivalent mechanism is constructed, the three-dimensional space coordinate model of the angle steel automatic palletizing machine is established, and then the three-dimensional model is transformed into the easy to understand plane map according to the transformation relation. Finally, the dimension design space of the angle steel automatic stacker is obtained. The limit circle is applied to the limit circle. The theoretical working space of the angle steel automatic palletizing machine is studied. The theoretical working space of different shapes is obtained, and the optimal theoretical working space is determined according to the length range of the connecting rod. The acceleration of the end executing mechanism of the angle steel automatic stacker is studied by using the polynomial curve method, the sine curve method and the modified trapezoid curve method. The maximum acceleration expression of each method. According to the actual situation, the operation cycle and running path of the angle steel stacker are determined. Finally, according to the actual situation, the path planning method is chosen most suitable for the angle steel automatic palletizing machine, and the arc optimization of the trajectory planning curve is also carried out. The power of the angle steel automatic stacker is powered by the Lagrange method. Based on the axial load of the screw and the instantaneous maximum torque of the servo motor, the servo motor is selected for the mechanism. According to the theoretical analysis, the angle steel automatic stacker is consistent with the actual working conditions, the operation is efficient and stable, and the production efficiency of the steel enterprise can be promoted. The improvement is also of great significance to the deepening of automation in iron and steel enterprises.
【学位授予单位】：华北理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TH246

【参考文献】