自适应摩擦驱动系统静力学建模与运动特性分析
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摘要
随着社会现代化进程不断深入,各类物资的流动速度日益加快,流动规模日益扩大,对物流自动化装备的需求也更加迫切。作为物流运输的重要一环,物流输送装备的发展决定着整个物流系统的速度和效率。因此,研究物流输送装备发展现状,进而设计更为顺畅和快捷的物流输送系统,显得尤为必要。
自适应摩擦驱动技术,是一种创新型物流输送方式。首先,相对于带式输送、板式输送、辊式输送、悬挂输送等传统物流输送方式,自适应摩擦驱动输送具有高效、柔性、节能、环保低噪声等特点。其次,自适应摩擦驱动技术克服了普通摩擦驱动技术的不足。通过设计柔性摆式摩擦驱动单元,使摩擦驱动技术从单维摩擦驱动转化为多维摩擦驱动,既可实现直线输送,还可方便实现转弯、上下坡等柔性驱动。
首先,本课题分析了物流输送装备的发展现状,对自适应摩擦驱动输送的优势进行了分析,论证了课题研究的必要性;接下来,建立Ⅰ～Ⅳ型摩擦驱动系统静力学模型,对其进行静力学与运动学特性分析,并根据分析结果,设计新Ⅴ型摩擦驱动系统,进而对其进行静力学与运动学特性分析;然后,根据Ⅰ～Ⅴ型摩擦驱动系统的运动特性分析结果,对自适应摩擦驱动系统的关键影响因素进行了分析研究,并开发了系统设计指导软件。
最后,对本论文的研究工作和所取得的研究成果进行了总结,并结合研究过程中的体会,提出了进一步的展望。
With the deepening of social modernization, flow rate of material is accelerating, and flow scale of material is growing, so the requirements of logistics automation equipment become much more urgent. As an important part of logistics and transport, the development of logistics and transportation equipment determines the speed and efficiency of logistics system. Therefore, it’s particularly necessary that studying the current status of logistics transportation equipment development and designing a more smooth and efficient transport logistics system.
Adaptive friction drive technology is an innovative way to transport logistics. First, relative to traditional delivery method of transport logistics (such as belt conveyor, slat conveyor, roller conveyor, suspension conveyor and so on), adaptive friction drive transmission has the features of efficiency, flexibility, energy-saving, environmental protection and low noise. Second, adaptive friction drive technology overcomes the lack of general friction drive technology. Through designing flexible tilting friction drive unit, one-dimensiona friction drive turns into multi-dimensional. It can not only achieve line-transmission, but also facilitate the achievement of turning, on the downhill and other flexible drive ways.
First, this subject analysised the development of logistics transportation equipments, and found the advantages of adaptive friction drive transmission, and then, demonstrated the need to research it. Next, static models ofⅠ~Ⅳfriction drive systems were set up, and the static and kinematic analysis of these types was finished. Then, according the analysis result, I designed a newⅤ-type friction drive system, and finished its static and kinematic analysis. Next, according the analysis result ofⅠ~Ⅴtypes, key factors of adaptive friction drive system were analyzed, and a guide software for system design was developed.
Finally, this paper’s studies and results were summarized, and, combined with the experience during the research, further prospects was made.
自适应摩擦驱动技术,是一种创新型物流输送方式。首先,相对于带式输送、板式输送、辊式输送、悬挂输送等传统物流输送方式,自适应摩擦驱动输送具有高效、柔性、节能、环保低噪声等特点。其次,自适应摩擦驱动技术克服了普通摩擦驱动技术的不足。通过设计柔性摆式摩擦驱动单元,使摩擦驱动技术从单维摩擦驱动转化为多维摩擦驱动,既可实现直线输送,还可方便实现转弯、上下坡等柔性驱动。
首先,本课题分析了物流输送装备的发展现状,对自适应摩擦驱动输送的优势进行了分析,论证了课题研究的必要性;接下来,建立Ⅰ～Ⅳ型摩擦驱动系统静力学模型,对其进行静力学与运动学特性分析,并根据分析结果,设计新Ⅴ型摩擦驱动系统,进而对其进行静力学与运动学特性分析;然后,根据Ⅰ～Ⅴ型摩擦驱动系统的运动特性分析结果,对自适应摩擦驱动系统的关键影响因素进行了分析研究,并开发了系统设计指导软件。
最后,对本论文的研究工作和所取得的研究成果进行了总结,并结合研究过程中的体会,提出了进一步的展望。
With the deepening of social modernization, flow rate of material is accelerating, and flow scale of material is growing, so the requirements of logistics automation equipment become much more urgent. As an important part of logistics and transport, the development of logistics and transportation equipment determines the speed and efficiency of logistics system. Therefore, it’s particularly necessary that studying the current status of logistics transportation equipment development and designing a more smooth and efficient transport logistics system.
Adaptive friction drive technology is an innovative way to transport logistics. First, relative to traditional delivery method of transport logistics (such as belt conveyor, slat conveyor, roller conveyor, suspension conveyor and so on), adaptive friction drive transmission has the features of efficiency, flexibility, energy-saving, environmental protection and low noise. Second, adaptive friction drive technology overcomes the lack of general friction drive technology. Through designing flexible tilting friction drive unit, one-dimensiona friction drive turns into multi-dimensional. It can not only achieve line-transmission, but also facilitate the achievement of turning, on the downhill and other flexible drive ways.
First, this subject analysised the development of logistics transportation equipments, and found the advantages of adaptive friction drive transmission, and then, demonstrated the need to research it. Next, static models ofⅠ~Ⅳfriction drive systems were set up, and the static and kinematic analysis of these types was finished. Then, according the analysis result, I designed a newⅤ-type friction drive system, and finished its static and kinematic analysis. Next, according the analysis result ofⅠ~Ⅴtypes, key factors of adaptive friction drive system were analyzed, and a guide software for system design was developed.
Finally, this paper’s studies and results were summarized, and, combined with the experience during the research, further prospects was made.
引文
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[2]刘昌祺.物流配送中心设施及设备设计[M].北京:机械工业出版社,2004.9
[3]王耀斌,简晓春主编.物流装卸机械[M].北京:人民交通出版社,2003.10
[4] D.R.伍德利(英).物料搬运[M].北京:机械工业出版社,1975.6
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[14]卢耀祖,郑惠强.机械结构设计[M].上海:同济大学出版社,2004.10
[15]方键编著.机械结构设计[M].北京:化学工业出版社教材出版中心,2006.2
[16]梁正强编.机械零件设计计算实例[M].北京:中国铁道出版社,1989.12
[17]周健伟.解析几何[M].北京:高等教育出版社,2005.5
[18]武清玺,冯奇主编.理论力学[M].北京:高等教育出版社,2003.8
[19]张春林.机械原理[M].北京:高等教育出版社,2006.1
[20]吴宗泽主编.机械设计[M].北京:高等教育出版社,2001.7
[21]梁尚明,殷国富主编.现代机械优化设计方法[M].北京:化学工业出版社,2005.7
[22]原思聪主编.MATLAB语言及机械工程应用[M].北京:机械工业出版社,2008.8
[23]陈积伟主编.工程材料[M].北京:机械工业出版社,2006.5
[24]初永坤,李益民.摩擦驱动及其应用[J].新技术新工艺,1994,3:14-15.
[25]苑文瑛.浅谈摩擦驱动系统[J].航空精密制造技术,1991,5:16-19.
[26]闫东升,曹志清,孔改荣.FDM工艺送丝驱动机构的摩擦驱动力分析[J].北京化工大学学报(自然科学版),2003,30(3):71-77.
[27]潘年明,吴文秀.高压管汇自动焊接系统送丝机构设计(一)[J].电焊机,2009, 39(2):90-96.
[28]王瑾.圆柱轮送丝机构的仿真研究[J].机械管理开发,2009,24(4):37-38.
[29]张国栋.YIM摩擦输送系统的应用[J].科技情报开发与经济,2007,17(14):289-290.
[30]王永红.摩擦驱动自动化输送系统在汽车行业的应用[J].机械管理开发,2010, 25(2):123-124.
[31]李新,沈学龙,杨雷.无链条摩擦式输送机驱动装置,中国,实用新型专利,CN2451548Y, 2001.10.3
[32]杨雷,陈友庆,藏道恒.地面双摩擦驱动装置,中国,实用新型专利,CN2920911Y, 2007.07.11
[33]杨雷,陈友庆,藏道恒.地面弯段摩擦驱动装置,中国,实用新型专利,CN2920912Y, 2007.07.11.
[34]郭拔常.双软道型多柔传动的设计与静力学分析[J].机械工程师,2001,3:32-34.
[35]李立全.水下机械手的静力学分析、静力状态下的路径规划及计算机仿真,[工学硕士学位论文].哈尔滨:哈尔滨工程大学,2004.
[36]谭智.月球车静力学分析及单轮实验装置的设计与研究,[工学硕士学位论文].深圳:哈尔滨工业大学深圳研究生院,2009.
[37]陈洁.基于Matlab的曲柄摇杆式飞剪运动学分析研究[J].冶金设备,2009,6:39-41.
[38]朱拥勇,王德石.基于封闭矩阵方程的空间摆盘机构运动学分析[J].机械设计,2006, 23(2):57-62.
[39]代丽,赵雄,赵匀.偏心链轮传动机构的运动学分析及参数优化[J].农业机械学报2009,40(12):233-241.
[40]于红英,唐德威,王建宇.平面五杆机构运动学和动力学特性分析[J].哈尔滨工业大学学报,2007,39(6):940-943.
[41]高翔,李江,程建平.双横臂独立悬架导向机构运动学分析及优化拖拉机与农用运输车2008,35(1):43-45.
[42]王慧英.模切机双肘杆机构的运动学与动态静力学分析,[D].天津:天津大学,2009.
[43]王颖超.平面复杂机构的运动学与动力学综合研究,[D].重庆:重庆大学,2006.
[44] B. N. J. Persson, O. Albohr, F. Mancosu, V. Peveri, V. N. Samoilov, I. M. Sivebaek. On the nature of the static friction, kinetic friction and creep [J]. Wear, 2003, 254(9): 835-851.
[45] A.M. Fridberg. Theory of friction and oscillation of two elastic bodies in contact and its application to differential rotation of railw ay wheel treads [J]. Wear, 2003, 258(7-8): 1091-1099.
[46] S. J. Jerrams. Friction and adhesion in rigid surface indentation of nitrile rubber [J]. Materials & Design, 2005, 26(3): 251-258.
[47] Thomas Geike, Valentin L. Popov.Multi-layer models of friction between solids [J]. Tribology International, 2006, 39(5): 437-443.
[48] T. Sakamoto. Normal displacement and dynamic friction characteristics in a stick-slip process [J]. Tribology International, 1987, 20(1): 25-31.
[49] Chii-Rong Yang, Rong-Tsong Lee, Yuang-Cherng Chiou. Study on dynamic friction characteristics in reciprocating friction drive system [J]. Tribology International, 1997, 30(10): 719-761.
[50] Chii-Rong Yang, Yuang-Cherng Chiou, Rong-Tsong Lee. Study on positioning accuracy of reciprocating friction drive system [J]. Wear, 1995, 189(1-2): 58-65.
[51] Thorsten Schmidt, Lars Leiking. A novel simulation model for the dimensioning of cover band conveyors [J]. Mechanism and Machine Theory, 2009, 44(9): 1795-1805.
[52] Chii-Rong Yang, Yuang-Cherng Chiou, Rong-Tsong Lee. Tribological behavior of reciprocating friction drive system under lubricated contact [J]. Tribology International, 32 (1999) 443–453.
[53] Chii-Rong Yang, Yuang-Cherng Chiou, Rong-Tsong Lee. Tribological behavior of reciprocating friction drive system under lubricated contact [J]. Tribology International, 32 (1999) 443–453.
[2]刘昌祺.物流配送中心设施及设备设计[M].北京:机械工业出版社,2004.9
[3]王耀斌,简晓春主编.物流装卸机械[M].北京:人民交通出版社,2003.10
[4] D.R.伍德利(英).物料搬运[M].北京:机械工业出版社,1975.6
[5]弗罗尼斯(德)编,王汝霖等译.设计学:传动零件[M].北京:高等教育出版社,1988.10
[6]扎布隆斯基(苏)著,余梦生等译.机械零件[M].北京:高等教育出版社,1992.7
[7]库德里亚夫采夫(苏)著,汪一麟等译.机械零件[M].北京:高等教育出版社,1985.9
[8]阮忠唐,刘凯.机械无级变速器设计与选用指南[M].北京:化学工业出版社,1999.9
[9]《现代机械传动手册》编委会.现代机械传动手册[M].北京:机械工业出版社,1995.5
[10]张展.非标准设备设计手册第3册[M].北京:兵器工业出版社,1993.9
[11]成大先主编.机械设计手册.第3卷/第3版[M].北京:化学工业出版社,1993.12
[12]赵匀.机构数值分析与综合[M].北京:机械工业出版社,2005.6
[13]陈国华.机械机构及应用/编著[M].北京:机械工业出版社,2008.1
[14]卢耀祖,郑惠强.机械结构设计[M].上海:同济大学出版社,2004.10
[15]方键编著.机械结构设计[M].北京:化学工业出版社教材出版中心,2006.2
[16]梁正强编.机械零件设计计算实例[M].北京:中国铁道出版社,1989.12
[17]周健伟.解析几何[M].北京:高等教育出版社,2005.5
[18]武清玺,冯奇主编.理论力学[M].北京:高等教育出版社,2003.8
[19]张春林.机械原理[M].北京:高等教育出版社,2006.1
[20]吴宗泽主编.机械设计[M].北京:高等教育出版社,2001.7
[21]梁尚明,殷国富主编.现代机械优化设计方法[M].北京:化学工业出版社,2005.7
[22]原思聪主编.MATLAB语言及机械工程应用[M].北京:机械工业出版社,2008.8
[23]陈积伟主编.工程材料[M].北京:机械工业出版社,2006.5
[24]初永坤,李益民.摩擦驱动及其应用[J].新技术新工艺,1994,3:14-15.
[25]苑文瑛.浅谈摩擦驱动系统[J].航空精密制造技术,1991,5:16-19.
[26]闫东升,曹志清,孔改荣.FDM工艺送丝驱动机构的摩擦驱动力分析[J].北京化工大学学报(自然科学版),2003,30(3):71-77.
[27]潘年明,吴文秀.高压管汇自动焊接系统送丝机构设计(一)[J].电焊机,2009, 39(2):90-96.
[28]王瑾.圆柱轮送丝机构的仿真研究[J].机械管理开发,2009,24(4):37-38.
[29]张国栋.YIM摩擦输送系统的应用[J].科技情报开发与经济,2007,17(14):289-290.
[30]王永红.摩擦驱动自动化输送系统在汽车行业的应用[J].机械管理开发,2010, 25(2):123-124.
[31]李新,沈学龙,杨雷.无链条摩擦式输送机驱动装置,中国,实用新型专利,CN2451548Y, 2001.10.3
[32]杨雷,陈友庆,藏道恒.地面双摩擦驱动装置,中国,实用新型专利,CN2920911Y, 2007.07.11
[33]杨雷,陈友庆,藏道恒.地面弯段摩擦驱动装置,中国,实用新型专利,CN2920912Y, 2007.07.11.
[34]郭拔常.双软道型多柔传动的设计与静力学分析[J].机械工程师,2001,3:32-34.
[35]李立全.水下机械手的静力学分析、静力状态下的路径规划及计算机仿真,[工学硕士学位论文].哈尔滨:哈尔滨工程大学,2004.
[36]谭智.月球车静力学分析及单轮实验装置的设计与研究,[工学硕士学位论文].深圳:哈尔滨工业大学深圳研究生院,2009.
[37]陈洁.基于Matlab的曲柄摇杆式飞剪运动学分析研究[J].冶金设备,2009,6:39-41.
[38]朱拥勇,王德石.基于封闭矩阵方程的空间摆盘机构运动学分析[J].机械设计,2006, 23(2):57-62.
[39]代丽,赵雄,赵匀.偏心链轮传动机构的运动学分析及参数优化[J].农业机械学报2009,40(12):233-241.
[40]于红英,唐德威,王建宇.平面五杆机构运动学和动力学特性分析[J].哈尔滨工业大学学报,2007,39(6):940-943.
[41]高翔,李江,程建平.双横臂独立悬架导向机构运动学分析及优化拖拉机与农用运输车2008,35(1):43-45.
[42]王慧英.模切机双肘杆机构的运动学与动态静力学分析,[D].天津:天津大学,2009.
[43]王颖超.平面复杂机构的运动学与动力学综合研究,[D].重庆:重庆大学,2006.
[44] B. N. J. Persson, O. Albohr, F. Mancosu, V. Peveri, V. N. Samoilov, I. M. Sivebaek. On the nature of the static friction, kinetic friction and creep [J]. Wear, 2003, 254(9): 835-851.
[45] A.M. Fridberg. Theory of friction and oscillation of two elastic bodies in contact and its application to differential rotation of railw ay wheel treads [J]. Wear, 2003, 258(7-8): 1091-1099.
[46] S. J. Jerrams. Friction and adhesion in rigid surface indentation of nitrile rubber [J]. Materials & Design, 2005, 26(3): 251-258.
[47] Thomas Geike, Valentin L. Popov.Multi-layer models of friction between solids [J]. Tribology International, 2006, 39(5): 437-443.
[48] T. Sakamoto. Normal displacement and dynamic friction characteristics in a stick-slip process [J]. Tribology International, 1987, 20(1): 25-31.
[49] Chii-Rong Yang, Rong-Tsong Lee, Yuang-Cherng Chiou. Study on dynamic friction characteristics in reciprocating friction drive system [J]. Tribology International, 1997, 30(10): 719-761.
[50] Chii-Rong Yang, Yuang-Cherng Chiou, Rong-Tsong Lee. Study on positioning accuracy of reciprocating friction drive system [J]. Wear, 1995, 189(1-2): 58-65.
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