基于并联机械手的液料自动卸车装置机械系统研究

发布时间：2018-03-21 22:40

本文选题：液料装卸　切入点：自动卸车装置　出处：《哈尔滨工业大学》2015年硕士论文　论文类型：学位论文

【摘要】：石油化工液料装卸设备的装卸效率和使用性能随着石油化工企业规模的日益壮大逐渐受到重视。目前,多数企业仍沿用传统的纯人工操作装卸车专用设备(软管和鹤管),存在着装卸设备与卸料口对位不准确、工人劳动强度大、效率低等弊病。为改善这一现状,本文提出将六自由度并联机构技术引用到液料装卸设备自动化改造中,旨在研发用于汽车运输方式下的新型液料自动卸车装置。本文重点对液料自动卸车装置的机械系统进行研究、设计和优化,设计了液压驱动式软管接头机构和满足大范围任务工作空间的并联机构,搭建了装置的联合仿真试验平台,验证了设计方案的可行性。首先,明确了液料自动卸车装置的功能需求,确定关键技术指标,分析了软管接头与槽车卸料口对接过程,研究了考虑柔顺性的自动对接方法,结合实际工况确定了将软管固连于液压驱动的并联平台上的自动对接方式,建立了基于并联机构的液料自动卸车装置机械系统整体方案。其次,针对软管接头与槽车卸料口可靠自动对接功能,依据偏置曲柄滑块机构原理适应性设计了液压驱动式软管接头机构。研究了液压驱动式软管接头的机构原理,确定了机构运动参数,基于Matlab对机构进行运动学分析和动力学分析,并验证了机构的自动卡紧功能,完成了关键件的结构设计和强度分析。并联机构作为液料自动卸车装置核心的支撑操作平台,其结构参数决定着卸车装置运动性能。依据技术指标要求初步确定了经验结构参数,分析了其运动学性能、动力学性能和工作空间。在此基础上,探讨了并联机构的工作空间、液压缸行程、灵巧度与结构参数的关系。综合考虑以上各矛盾目标,基于遗传算法优化了结构参数,使机构综合性能提高17.8%。该并联平台可实现侧移0.5m、纵移0.5m、升降0.2m、俯仰20°、偏航20°、滚动20°的运动范围。最后,基于多软件联合仿真的方法搭建了集成化仿真实验平台和研究了系统性能。基于Matlab/Simulink建立了液压伺服系统仿真模型;基于Adams软件建立了机械系统虚拟样机,完成了运动学仿真验证;基于Adams/Controls接口模块搭建了联合仿真试验平台。由联合仿真结果得出,采用前馈补偿的PID控制方法优于传统的PID控制方法,将装置的位移跟踪误差控制在0.5mm之内,角度跟踪误差控制在0.028°之内,证明了设计方案的可行性。
[Abstract]:With the increasing scale of petrochemical enterprises, the loading and unloading efficiency and performance of petrochemical liquid handling equipment have been paid more and more attention. Most enterprises still use the traditional manual operation special equipment (hose and crane pipe) for loading and unloading truck. There are some disadvantages such as inaccurate alignment between loading and unloading equipment and discharge port, heavy labor intensity and low efficiency of the workers, etc. In order to improve this situation, In this paper, a six-degree-of-freedom parallel mechanism technology is proposed to be applied to the automatic transformation of liquid-material handling equipment. This paper focuses on the research, design and optimization of the mechanical system of the liquid-material automatic unloading device. The hydraulic driven hose joint mechanism and the parallel mechanism to meet the task workspace are designed, and the joint simulation test platform of the device is built to verify the feasibility of the design scheme. The functional requirements of the automatic unloading device for liquid and material are defined, the key technical indexes are determined, the docking process between the hose joint and the discharge port of the tank truck is analyzed, and the automatic docking method considering the flexibility is studied. Combined with the actual working conditions, the automatic docking mode of connecting the hose to the hydraulic drive parallel platform is determined, and the whole scheme of the mechanical system of the liquid-material automatic unloading device based on the parallel mechanism is established. Aiming at the function of reliable automatic docking between hose joint and discharge port of tank truck, according to the principle of offset crank slider mechanism, a hydraulic driven hose joint mechanism is designed. The mechanism principle of hydraulic driven hose joint is studied. The kinematics parameters of the mechanism are determined, the kinematics and dynamics of the mechanism are analyzed based on Matlab, and the automatic clamping function of the mechanism is verified. The structure design and strength analysis of the key parts are completed. The parallel mechanism is the supporting and operating platform for the core of the liquid-material automatic unloading device. The structural parameters determine the kinematic performance of the unloading device. The empirical structural parameters are preliminarily determined according to the technical specifications, and their kinematics, dynamics and workspace are analyzed. On this basis, the workspace of the parallel mechanism is discussed. The relationship between hydraulic cylinder stroke, dexterity and structural parameters. Considering the above contradictory objectives, the structural parameters are optimized based on genetic algorithm. This parallel platform can achieve a movement range of 0.5 m, 0.5 m, 0.2 m, 20 掳pitch, 20 掳yaw and 20 掳roll. Based on the method of multi-software joint simulation, the integrated simulation experiment platform is built and the performance of the system is studied. The simulation model of hydraulic servo system based on Matlab/Simulink and the virtual prototype of mechanical system based on Adams software are established. The kinematics simulation is completed, the joint simulation test platform is built based on the Adams/Controls interface module, and the results show that the feedforward compensation PID control method is superior to the traditional PID control method. The displacement tracking error of the device is controlled within 0.5mm and the angle tracking error is controlled within 0.028 掳, which proves the feasibility of the design scheme.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TE97;TE65;TP241

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