本文選題：角鋼自動(dòng)碼垛機(jī) + 機(jī)構(gòu)優(yōu)化　； 參考：《華北理工大學(xué)》2015年碩士論文

【摘要】：在自動(dòng)化程度日益提高的鋼鐵企業(yè),很多環(huán)節(jié)的生產(chǎn)效率和生產(chǎn)質(zhì)量都得到明顯改善,但是仍有部分環(huán)節(jié)自動(dòng)化程度還很低,制約著企業(yè)的生產(chǎn)效率,角鋼的碼垛環(huán)節(jié)就是其中一個(gè)�；谏鲜鰡栴},提出一種二自由度并聯(lián)角鋼自動(dòng)碼垛機(jī)。該角鋼自動(dòng)碼垛機(jī)結(jié)構(gòu)簡單、體積小、運(yùn)動(dòng)速度快、動(dòng)作準(zhǔn)確,能夠有效提高生產(chǎn)效率及生產(chǎn)質(zhì)量,解決現(xiàn)有碼垛機(jī)運(yùn)動(dòng)速度慢、動(dòng)作不準(zhǔn)確、生產(chǎn)效率低下的難題。和串聯(lián)機(jī)構(gòu)相比,并聯(lián)角鋼自動(dòng)碼垛機(jī)剛度大,能夠承受更大的力矩和力。課題主要以二自由度并聯(lián)角鋼自動(dòng)碼垛機(jī)為研究對象,依據(jù)幾何投影學(xué),將二自由度并聯(lián)角鋼自動(dòng)碼垛機(jī)等效成平面機(jī)構(gòu),對其進(jìn)行運(yùn)動(dòng)學(xué)分析和奇異性分析。結(jié)合實(shí)際分析數(shù)據(jù),對角鋼自動(dòng)碼垛機(jī)進(jìn)行結(jié)構(gòu)優(yōu)化,根據(jù)導(dǎo)軌傾斜角度和運(yùn)動(dòng)學(xué)參數(shù)的關(guān)系,最終對其導(dǎo)軌進(jìn)行傾斜設(shè)計(jì)。運(yùn)用虛擬機(jī)構(gòu)法,構(gòu)造等效機(jī)構(gòu),建立角鋼自動(dòng)碼垛機(jī)的三維空間坐標(biāo)模型,再根據(jù)轉(zhuǎn)化關(guān)系,將三維模型轉(zhuǎn)化為易于理解的平面圖,最后得出角鋼自動(dòng)碼垛機(jī)的尺寸設(shè)計(jì)空間。運(yùn)用極限圓法對角鋼自動(dòng)碼垛機(jī)的理論工作空間進(jìn)行研究,得到不同形狀的理論工作空間,根據(jù)連桿的長度范圍,確定最優(yōu)的理論工作空間。運(yùn)用多項(xiàng)式曲線法、正弦曲線法、修正梯形曲線法對角鋼自動(dòng)碼垛機(jī)末端執(zhí)行機(jī)構(gòu)的加速度進(jìn)行研究,得出各個(gè)方法最大加速度的表達(dá)式。根據(jù)實(shí)際情況,確定角鋼碼垛機(jī)的運(yùn)行周期和運(yùn)行路徑,最后根據(jù)實(shí)際情況選用最適合角鋼自動(dòng)碼垛機(jī)軌跡規(guī)劃的方法,同時(shí)也對軌跡規(guī)劃曲線進(jìn)行圓弧優(yōu)化。運(yùn)用拉格朗日法對角鋼自動(dòng)碼垛機(jī)進(jìn)行動(dòng)力學(xué)分析,建立逆解模型和動(dòng)力學(xué)方程,求出滑塊的驅(qū)動(dòng)力。根據(jù)絲杠的軸向載荷、伺服電機(jī)瞬時(shí)最大輸出扭矩,選取適合該機(jī)構(gòu)的伺服電機(jī)。根據(jù)上述理論分析,角鋼自動(dòng)碼垛機(jī)和實(shí)際工況相符,運(yùn)行高效、平穩(wěn),能夠促進(jìn)鋼鐵企業(yè)生產(chǎn)效率的提高,同時(shí)也對鋼鐵企業(yè)自動(dòng)化程度的加深有著重大意義。
[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.
【學(xué)位授予單位】：華北理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TH246

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本文編號：2037096