【摘要】：隨著全球的資源日益枯竭,新能源越來(lái)越受到人們的重視,太陽(yáng)能光伏發(fā)電作為一種新型的發(fā)電方式受到全世界的熱捧,但是“積灰效應(yīng)”嚴(yán)重地影響著發(fā)電效率。開(kāi)發(fā)一種新型高效的太陽(yáng)能光伏板清灰設(shè)備迫在眉睫。由于太陽(yáng)能光伏板本身的尺寸很大,因此設(shè)計(jì)出的快速、高效、靈敏響應(yīng)的清灰設(shè)備尺寸很大,它是一種類(lèi)似于大型工程機(jī)械中的機(jī)械臂結(jié)構(gòu),要使得設(shè)備能夠正常運(yùn)行,針對(duì)設(shè)備的主體部分的靜力和動(dòng)力分析,以及進(jìn)行相關(guān)的動(dòng)力參數(shù)的研究是保證設(shè)備可靠性的重要前提。本文結(jié)合甘肅省蘭州市科技發(fā)展計(jì)劃項(xiàng)目“太陽(yáng)能光伏板干式清理機(jī)器人研發(fā)及產(chǎn)業(yè)化”(編號(hào)2015-3-118),對(duì)太陽(yáng)能清灰設(shè)備進(jìn)行了靜力學(xué)分析,建立了設(shè)備的主體部分的各個(gè)組成機(jī)構(gòu)的動(dòng)力學(xué)模型,構(gòu)建了整個(gè)設(shè)備的虛擬樣機(jī),并且在已知的動(dòng)力學(xué)參數(shù)下,研究了設(shè)備正常工作的可靠性。針對(duì)整套設(shè)備的懸臂外伸特征,對(duì)整套設(shè)備工作時(shí)出現(xiàn)的車(chē)體傾覆的情況進(jìn)行分類(lèi),總結(jié)出三種最危險(xiǎn)的狀態(tài),并建立相關(guān)的模型,最后推出在車(chē)體不傾覆的條件下設(shè)備本體所能吊起的最大刷體清灰機(jī)構(gòu)的重量,驗(yàn)證已開(kāi)發(fā)的刷體清灰機(jī)構(gòu)是否滿足條件�；赪orkbench建立設(shè)備主體部分的有限元模型,分析在最?lèi)毫拥墓r下,設(shè)備的應(yīng)力與變形圖,驗(yàn)證設(shè)備的各主要組成部分的結(jié)構(gòu)的合理性。針對(duì)整套設(shè)備工作時(shí)的特點(diǎn),把整套設(shè)備主體部分分為四個(gè)機(jī)構(gòu)組成,其中利用作圖法建立了設(shè)備主體的核心機(jī)構(gòu)—推拉機(jī)構(gòu)的動(dòng)力學(xué)模型,并且引入了海賽階躍函數(shù)更好地去模擬實(shí)際工況下,油缸的活塞桿的運(yùn)動(dòng)規(guī)律,運(yùn)用MATLAB最終得到了總裝體(為了便于分析將刷體清灰機(jī)構(gòu)與主梁機(jī)構(gòu)看成一個(gè)整體)的角速度與角加速度的曲線圖,建立設(shè)備的推算系統(tǒng),并且基于推算系統(tǒng)建立了其余三個(gè)機(jī)構(gòu)的動(dòng)力學(xué)方程�；贏DAMS建立了整套設(shè)備的虛擬樣機(jī),模擬設(shè)備的整個(gè)運(yùn)行過(guò)程,分別分析了設(shè)備各個(gè)機(jī)構(gòu)工作時(shí),對(duì)應(yīng)的總裝體的角速度和角加速度、速度和加速度的曲線圖,分析了設(shè)備中各主要的鉸接點(diǎn)處的受力情況,為后續(xù)的優(yōu)化工作提供理論支撐。
[Abstract]:With the depletion of global resources, people pay more and more attention to new energy sources. Solar photovoltaic power generation as a new type of power generation is popular all over the world, but "ash effect" seriously affects the efficiency of power generation. It is urgent to develop a new type of efficient solar photovoltaic cleaning equipment. Because the size of solar photovoltaic panels is very large, the design of a fast, efficient and sensitive ash cleaning equipment is very large. It is similar to the mechanical arm structure in large construction machinery, and it should make the equipment run normally. The static and dynamic analysis of the main part of the equipment and the study of the related dynamic parameters are the important prerequisites to ensure the reliability of the equipment. In this paper, the research and industrialization of dry cleaning robot for solar photovoltaic panels (No. 2015-3-118), a scientific and technological development project of Lanzhou City, Gansu Province, is studied in this paper. The dynamic model of each component mechanism of the main part of the equipment is established, and the virtual prototype of the whole equipment is constructed. The reliability of the equipment working normally is studied under the known dynamic parameters. According to the cantilever outstretched characteristics of the whole set of equipment, the overturning of the car body during the working of the whole set of equipment is classified, and the three most dangerous states are summed up, and the relevant models are established. Finally, the weight of the maximum brush cleaning mechanism which can be hoisted by the equipment body without overturning is put forward, and it is verified that the developed cleaning mechanism satisfies the conditions. The finite element model of the main part of the equipment is established based on Workbench, and the stress and deformation diagram of the equipment under the worst working conditions is analyzed to verify the rationality of the structure of the main components of the equipment. According to the characteristics of the whole equipment, the main part of the whole equipment is divided into four parts, and the dynamic model of the core mechanism of the equipment body, the push-pull mechanism, is established by using the drawing method. And the step function is introduced to simulate the motion of piston rod in actual working condition. By using MATLAB, the curves of angular velocity and angular acceleration of the final assembly (in order to facilitate the analysis of the brushing mechanism and the main beam mechanism as a whole) are obtained, and the calculation system of the equipment is established. The dynamic equations of the other three mechanisms are established based on the calculation system. The virtual prototype of the whole equipment is established based on ADAMS, the whole operation process of the equipment is simulated, and the curves of angular velocity and angular acceleration, velocity and acceleration of the assembly are analyzed respectively when each mechanism of the equipment is working. In order to provide theoretical support for the following optimization work, the stress of the main hinge points in the equipment is analyzed.
【學(xué)位授予單位】：蘭州理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TM615

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