本文選題：液料裝卸　切入點：自動卸車裝置　出處：《哈爾濱工業(yè)大學》2015年碩士論文　論文類型：學位論文

【摘要】：石油化工液料裝卸設備的裝卸效率和使用性能隨著石油化工企業(yè)規(guī)模的日益壯大逐漸受到重視。目前,多數企業(yè)仍沿用傳統(tǒng)的純人工操作裝卸車專用設備(軟管和鶴管),存在著裝卸設備與卸料口對位不準確、工人勞動強度大、效率低等弊病。為改善這一現(xiàn)狀,本文提出將六自由度并聯(lián)機構技術引用到液料裝卸設備自動化改造中,旨在研發(fā)用于汽車運輸方式下的新型液料自動卸車裝置。本文重點對液料自動卸車裝置的機械系統(tǒng)進行研究、設計和優(yōu)化,設計了液壓驅動式軟管接頭機構和滿足大范圍任務工作空間的并聯(lián)機構,搭建了裝置的聯(lián)合仿真試驗平臺,驗證了設計方案的可行性。首先,明確了液料自動卸車裝置的功能需求,確定關鍵技術指標,分析了軟管接頭與槽車卸料口對接過程,研究了考慮柔順性的自動對接方法,結合實際工況確定了將軟管固連于液壓驅動的并聯(lián)平臺上的自動對接方式,建立了基于并聯(lián)機構的液料自動卸車裝置機械系統(tǒng)整體方案。其次,針對軟管接頭與槽車卸料口可靠自動對接功能,依據偏置曲柄滑塊機構原理適應性設計了液壓驅動式軟管接頭機構。研究了液壓驅動式軟管接頭的機構原理,確定了機構運動參數,基于Matlab對機構進行運動學分析和動力學分析,并驗證了機構的自動卡緊功能,完成了關鍵件的結構設計和強度分析。并聯(lián)機構作為液料自動卸車裝置核心的支撐操作平臺,其結構參數決定著卸車裝置運動性能。依據技術指標要求初步確定了經驗結構參數,分析了其運動學性能、動力學性能和工作空間。在此基礎上,探討了并聯(lián)機構的工作空間、液壓缸行程、靈巧度與結構參數的關系。綜合考慮以上各矛盾目標,基于遺傳算法優(yōu)化了結構參數,使機構綜合性能提高17.8%。該并聯(lián)平臺可實現(xiàn)側移0.5m、縱移0.5m、升降0.2m、俯仰20°、偏航20°、滾動20°的運動范圍。最后,基于多軟件聯(lián)合仿真的方法搭建了集成化仿真實驗平臺和研究了系統(tǒng)性能�；贛atlab/Simulink建立了液壓伺服系統(tǒng)仿真模型;基于Adams軟件建立了機械系統(tǒng)虛擬樣機,完成了運動學仿真驗證;基于Adams/Controls接口模塊搭建了聯(lián)合仿真試驗平臺。由聯(lián)合仿真結果得出,采用前饋補償的PID控制方法優(yōu)于傳統(tǒng)的PID控制方法,將裝置的位移跟蹤誤差控制在0.5mm之內,角度跟蹤誤差控制在0.028°之內,證明了設計方案的可行性。
[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 擄pitch, 20 擄yaw and 20 擄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 擄, which proves the feasibility of the design scheme.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：TE97;TE65;TP241

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本文編號：1645918