【摘要】：針對軋機牌坊線下維修過程中遇到的起重吊運不便與停機時間過長等難題,以及普通機械加工設(shè)備不能完成軋機牌坊在線維修的現(xiàn)狀,文章研究了一種軋機牌坊在線修復設(shè)備,即軋機牌坊修復并聯(lián)銑削機器人,該機器人解決了高空作業(yè)、角落加工、工況復雜等實際難題。通過對軋機牌坊不同修復方法的總結(jié)與分析,選定具體修復方案�；谲垯C牌坊修復任務(wù)的工作空間與環(huán)境等要求,提出并選用了兩主動臂驅(qū)動并聯(lián)高速銑削機器人整體結(jié)構(gòu)方案,對各部分結(jié)構(gòu)的設(shè)計思路與具體尺寸進行了規(guī)劃與設(shè)計,并對整體結(jié)構(gòu)的自由度進行了分析。構(gòu)建了銑削機器人運動數(shù)學模型,通過理論分析推導出結(jié)構(gòu)運動學正逆解模型,同時進行了奇異位型分析,為銑削機器人控制系統(tǒng)設(shè)計奠定了基礎(chǔ)。基于加工作業(yè)基本要求,選用內(nèi)裝電動機主軸傳動系統(tǒng),即銑削電主軸。對銑削相關(guān)參數(shù)進行設(shè)計與計算,依據(jù)分析、計算結(jié)果對主傳動系統(tǒng)、軸承、減速器、伺服電機等元件進行了選型。從軋機牌坊修復加工設(shè)備的靜態(tài)特性出發(fā),對銑削機器人進行了基于Solid Works軟件的三維建模,然后基于ANSYS Workbench軟件分別對銑削機器人工作狀態(tài)與不工作狀態(tài)進行了靜力學分析,得到銑削機器人的應(yīng)變、應(yīng)力與整體變形云圖,考察結(jié)構(gòu)設(shè)計是否符合強度要求。對機器人結(jié)構(gòu)進行了模態(tài)分析,分析時考慮前八階固有頻率與振型,研究外部激勵頻率與結(jié)構(gòu)固有頻率是否重合,考察結(jié)構(gòu)設(shè)計的合理性。應(yīng)用ADAMS軟件對模型關(guān)鍵轉(zhuǎn)向過程進行了運動仿真,得到了相關(guān)仿真曲線和參數(shù),檢驗結(jié)構(gòu)的干涉狀況,考察該方案的可行性與準確性,為機器人驅(qū)動手臂伺服系統(tǒng)合理選取及機構(gòu)優(yōu)化提供幫助,最后對此次軋機牌坊修復工作的修復工藝進行了研究,保證修復工作的順利完成。
[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.
【學位授予單位】：華北理工大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TG333

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本文編號：2241689