轧机牌坊修复设备及工艺研究

发布时间：2018-09-13 16:15

【摘要】：针对轧机牌坊线下维修过程中遇到的起重吊运不便与停机时间过长等难题,以及普通机械加工设备不能完成轧机牌坊在线维修的现状,文章研究了一种轧机牌坊在线修复设备,即轧机牌坊修复并联铣削机器人,该机器人解决了高空作业、角落加工、工况复杂等实际难题。通过对轧机牌坊不同修复方法的总结与分析,选定具体修复方案。基于轧机牌坊修复任务的工作空间与环境等要求,提出并选用了两主动臂驱动并联高速铣削机器人整体结构方案,对各部分结构的设计思路与具体尺寸进行了规划与设计,并对整体结构的自由度进行了分析。构建了铣削机器人运动数学模型,通过理论分析推导出结构运动学正逆解模型,同时进行了奇异位型分析,为铣削机器人控制系统设计奠定了基础。基于加工作业基本要求,选用内装电动机主轴传动系统,即铣削电主轴。对铣削相关参数进行设计与计算,依据分析、计算结果对主传动系统、轴承、减速器、伺服电机等元件进行了选型。从轧机牌坊修复加工设备的静态特性出发,对铣削机器人进行了基于Solid Works软件的三维建模,然后基于ANSYS Workbench软件分别对铣削机器人工作状态与不工作状态进行了静力学分析,得到铣削机器人的应变、应力与整体变形云图,考察结构设计是否符合强度要求。对机器人结构进行了模态分析,分析时考虑前八阶固有频率与振型,研究外部激励频率与结构固有频率是否重合,考察结构设计的合理性。应用ADAMS软件对模型关键转向过程进行了运动仿真,得到了相关仿真曲线和参数,检验结构的干涉状况,考察该方案的可行性与准确性,为机器人驱动手臂伺服系统合理选取及机构优化提供帮助,最后对此次轧机牌坊修复工作的修复工艺进行了研究,保证修复工作的顺利完成。
[Abstract]:In view of the difficulties encountered in the process of underground maintenance of mill arch, such as inconvenient lifting and long downtime, and the current situation that the common machining equipment can not complete the online maintenance of mill arch, this paper studies a kind of on-line repair equipment for mill arch. This robot solves the practical problems such as high altitude operation, corner machining, complex working conditions and so on. Through the summary and analysis of different repair methods of mill arch, the concrete repair scheme is selected. Based on the demands of the workspace and environment of the repair task of the mill arch, the overall structure scheme of the parallel high-speed milling robot driven by two active arms is proposed and selected, and the design ideas and the specific dimensions of each part of the structure are planned and designed. The degree of freedom of the whole structure is analyzed. The kinematic mathematical model of milling robot is constructed, the forward and inverse kinematics model of structure is deduced through theoretical analysis, and the singular bit type analysis is carried out, which lays a foundation for the design of control system of milling robot. Based on the basic requirements of machining operation, internal motor spindle transmission system, I. E. milling motorized spindle, is selected. The milling parameters are designed and calculated. Based on the analysis, the main transmission system, bearing, reducer, servo motor and other components are selected. Based on the static characteristics of mill repair equipment, the 3D modeling of milling robot based on Solid Works software is carried out, and then the static analysis of the working state and non-working state of milling robot is carried out based on ANSYS Workbench software. The strain, stress and global deformation of the milling robot were obtained, and the structural design was investigated to meet the strength requirements. The modal analysis of robot structure is carried out. The first eight natural frequencies and modes are considered, and the coincidence of external excitation frequency and structural natural frequency is studied, and the rationality of structural design is investigated. The key steering process of the model is simulated by ADAMS software. The simulation curves and parameters are obtained, the interference of the structure is checked, and the feasibility and accuracy of the scheme are investigated. It can help the robot drive arm servo system to select reasonably and optimize the mechanism. Finally, the repair technology of the repair work of the mill arch is studied to ensure the smooth completion of the repair work.
【学位授予单位】：华北理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TG333

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