钻杆抓取机械手单蜗杆双蜗轮减速器的设计与优化

发布时间：2018-05-23 12:45

本文选题：单蜗杆双蜗轮减速器 + 齿轮修形　；参考：《中国地质大学(北京)》2017年硕士论文

【摘要】：钻机智能化和自动化在钻探技术发展背景下已经成为现代钻机设计的一个重要标志。移摆管机构会将竖直钻杆有顺序的、精确的摆放至下一作业点,与人工操作过程类似。基于此需求,对于平面机构具有很大优越性的空间开链机构-机械手的研究进入移摆管机构的研究领域。(1)根据课题的自动化钻探的需求,对机械手抓取结构进行了设计,并且对机械手使用的减速器、架体结构及卡瓦等机构进行计算,完成工程图的设计。(2)由于课题对操控性能要求较高,因此,箱体在满足强度要求时,应尽量减轻质量以提高系统的操控性能。采用ANSYS软件对箱体进行有限元分析,验证箱体的强度,并在此基础上对材料选择及箱体结构的优化用以减轻箱体的质量,优化结果为,总体质量减少67.9%,箱体的应力应变均有所增大,但仍在材料的许用范围内,且有一定的强度储备。(3)为满足结构紧凑及抓取动作的稳定性,在减速器体积较小的情况下,提高减速器的承载能力为增强抓取稳定性的一种有效的手段。采用ANSYS软件对蜗轮蜗杆的接触进行有限元分析,并从材料的选择及蜗轮修形的两种方式对承载力进行优化,从接触面的齿根线与齿顶线以及整个轮齿的应力与应变进行分析。对蜗轮蜗杆接触的优化结果:最大应力减小了7.2%,最大应变减小了16.3%;应力应变区域明显减小;集中应力分布区域也明显减少。(4)由于结构为双蜗轮配合使用,为提高抓取的准确性,两侧蜗轮的运动应有一定的同步性。采用UG的相关匹配接口将模型导入ADAMS中对蜗杆两侧蜗轮的同步性进行研究。结果表明,两侧蜗轮的力矩输出同步性较好,可以满足课题需求。本文研究的意义是在减速器较小体积的条件下,通过对单蜗杆双蜗轮减速的设计与优化,提升减速器的承载力及减轻减速器的重量,提高系统操控性及抓取动作的稳定性。
[Abstract]:The intelligence and automation of drilling rig has become an important symbol of modern drilling rig design under the background of drilling technology development. The pipe-shifting mechanism will place the vertical drill pipe in sequence and accurately to the next operating point, similar to manual operation. Based on this requirement, the research of space open chain mechanism (manipulator), which has great superiority for planar mechanism, has entered the research field of pendulum mechanism. (1) according to the requirement of automatic drilling in the subject, the grab structure of manipulator is designed. The reducer, the frame structure and the knuckle mechanism used by the manipulator are calculated, and the design of the engineering drawing is completed. (2) because the task requires high control performance, the box body meets the strength requirement. The quality should be minimized to improve the control performance of the system. The finite element analysis of the box body is carried out by using ANSYS software, and the strength of the box body is verified. On this basis, the material selection and the optimization of the box structure are used to reduce the quality of the box body. The overall mass is reduced by 67.9, the stress and strain of the box are increased, but are still within the allowable range of materials, and there is a certain strength reserve. (3) in order to satisfy the compact structure and the stability of grab action, in the case of small volume of reducer, Improving the bearing capacity of the reducer is an effective means to enhance the grasping stability. The finite element analysis of the contact of worm and worm gear is carried out by using ANSYS software, and the bearing capacity is optimized from the selection of material and the modification of worm gear, and the stress and strain of tooth root line and tooth top line of contact surface as well as the whole gear tooth are analyzed. Optimization results of worm gear contact: the maximum stress decreases 7.2, the maximum strain decreases 16.3; the stress strain region decreases obviously; and the concentration stress distribution area is also significantly reduced. 4) in order to improve the accuracy of grasping, because the structure is a double worm gear, the maximum stress is reduced by 7.2%, and the maximum strain decreases by 16.3%. The motion of two sides worm gear should have certain synchronism. The synchronization of worm gear on both sides of worm is studied by introducing the model into ADAMS by using the correlation matching interface of UG. The results show that the torque output synchronism of the two side worm gears is good and can meet the needs of the subject. The significance of the study in this paper is to improve the bearing capacity of the reducer and reduce the weight of the reducer through the design and optimization of the deceleration of single worm gear and double worm gear under the condition of small volume of the reducer, and to improve the control of the system and the stability of the grasping action.
【学位授予单位】：中国地质大学(北京)
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：P634.3

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