无动力分离多硬币投币装置设计与优化
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摘要
本文针对目前公交智能投币机和地铁自动售票机等一次只能处理一个硬币的现状,设计了一种无动力分离多硬币的投币装置,无需借助任何外力驱动,利用硬币自身重力和投币装置的结构特点实现多个硬币的分离和有间隙的队列,进而实现一次性对多个硬币的处理。在此投币装置的基础上,对币道曲线和相关参数进行了优化,使分离后的硬币能快而匀速且无晃动地通过检测区域,提高检测效率和精度。本文主要工作包括:
1、对无动力分离多硬币投币装置进行结构设计。将投币装置对硬币的分离作用分解为硬币采集、硬币打散和硬币队列,对相应功能的分离装置进行比较分析,再将合理方案进行综合。
2、在投币装置的基础上,对检测区域前的币道曲线进行优化设计。建立硬币从下落到在币道上滚动的数学模型并进行动力学分析,以币道曲线通过的型值点坐标为变量,以硬币从投币口下落到通过检测区域时能量损失最小为优化目标,以币道曲线导函数递增为约束条件,用遗传算法对型值点进行优化,得到优化后的B样条币道曲线,实现硬币快速通过检测区域。
3、对使硬币运动反向的币道曲线进行方案设计。针对队列装置中运动路径对硬币的反向作用,用刚体碰撞动力学方程分析比较了圆弧和样条型币道曲线对硬币反向运动后能量损耗的影响,确定了使能量损耗最少的圆弧币道方案,在该方案的基础上对硬币运动作了动力学分析。
4.列出硬币贴着侧板在币道上滚动的平面运动微分方程,建立硬币通过检测区域时保持匀速运动的约束方程,由约束方程进行了币道相关参数的选取,在ADAMS中的仿真结果表明参数选取较合理。
5.在币道表面与侧板的夹角成直角和锐角的情况下,列出不同姿态的硬币与币道碰撞后在币道上的晃动微分方程组并进行分析比较,得出在成适当锐角的情况下币道和侧板对减少硬币晃动具有良好效果的结论,并在ADAMS仿真中得以验证,保证了硬币以贴着侧板的姿态运动到检测区域。
经过本文设计和优化后的投币装置能够实现多枚硬币的无动力分离,硬币能快而匀速且无晃动地通过检测区域,提高了投币装置的检测效率和精度。
Based on the phenomenon of public transport smart slot machines and subway ticket vending machines can only deal with one coin each time, a kind of non-dynamic separation of multi-coins slot device is designed, without using any external drive, it can realize the separation and gap queue of the multi-coins by the coin self-gravity and the structural characteristics of the device, so as to realize a one-time handling of multiple coins. Coin chute curves and related parameters are optimized based on the device, so that the separated coins can pass through the testing area quickly, uniform speedy and without sloshing, it also improves the detection efficiency and accuracy. The following are the main work of the research:
1. Design the structure of non-dynamic separation of multi-coins slot device. Decompose the separation function of the device into coins collecting, coins scattering and coins queue; compare and analyse the corresponding separation device, then integrate the reasonable program.
2. Optimize the coin chute curve before the testing area based on the slot device. Establish the mathematical model about the coin from dropping to rolling on the coin chute and make dynamic analysis. Set the energy loss as the optimize target, use GA to search the optimized data points, then find the optimized B-spline curve which is interpolating through these data points, so it can make the coin passing through the testing area rapidly.
3. Design the coin chute curve which can reverse the movement of coin. Analyse and compare the energy loss when coin pass through the arc and the spline-based coin chute curve, adopt the arc chute which can minimize the energy loss, the kinetic analysis of coin is also made based on the program.
4. List the planar motion equations of the coin rolling on the chute as well as close to the incline board, establish the constraint equation of uniform motion, then select the relevant parameters of coin chute, the simulation results in the ADAMS indicate that the selection is more reasonable.
5. List the rocking system of differential equations of coin rolling on the coin chute after collision under the condition of different angles between coin chute and incline board, draw a conclusion that appropriate acute angle can play a good role to reduce the rocking.
Through the design and optimization, the efficiency and accuracy can be improved of the very slot device.
1、对无动力分离多硬币投币装置进行结构设计。将投币装置对硬币的分离作用分解为硬币采集、硬币打散和硬币队列,对相应功能的分离装置进行比较分析,再将合理方案进行综合。
2、在投币装置的基础上,对检测区域前的币道曲线进行优化设计。建立硬币从下落到在币道上滚动的数学模型并进行动力学分析,以币道曲线通过的型值点坐标为变量,以硬币从投币口下落到通过检测区域时能量损失最小为优化目标,以币道曲线导函数递增为约束条件,用遗传算法对型值点进行优化,得到优化后的B样条币道曲线,实现硬币快速通过检测区域。
3、对使硬币运动反向的币道曲线进行方案设计。针对队列装置中运动路径对硬币的反向作用,用刚体碰撞动力学方程分析比较了圆弧和样条型币道曲线对硬币反向运动后能量损耗的影响,确定了使能量损耗最少的圆弧币道方案,在该方案的基础上对硬币运动作了动力学分析。
4.列出硬币贴着侧板在币道上滚动的平面运动微分方程,建立硬币通过检测区域时保持匀速运动的约束方程,由约束方程进行了币道相关参数的选取,在ADAMS中的仿真结果表明参数选取较合理。
5.在币道表面与侧板的夹角成直角和锐角的情况下,列出不同姿态的硬币与币道碰撞后在币道上的晃动微分方程组并进行分析比较,得出在成适当锐角的情况下币道和侧板对减少硬币晃动具有良好效果的结论,并在ADAMS仿真中得以验证,保证了硬币以贴着侧板的姿态运动到检测区域。
经过本文设计和优化后的投币装置能够实现多枚硬币的无动力分离,硬币能快而匀速且无晃动地通过检测区域,提高了投币装置的检测效率和精度。
Based on the phenomenon of public transport smart slot machines and subway ticket vending machines can only deal with one coin each time, a kind of non-dynamic separation of multi-coins slot device is designed, without using any external drive, it can realize the separation and gap queue of the multi-coins by the coin self-gravity and the structural characteristics of the device, so as to realize a one-time handling of multiple coins. Coin chute curves and related parameters are optimized based on the device, so that the separated coins can pass through the testing area quickly, uniform speedy and without sloshing, it also improves the detection efficiency and accuracy. The following are the main work of the research:
1. Design the structure of non-dynamic separation of multi-coins slot device. Decompose the separation function of the device into coins collecting, coins scattering and coins queue; compare and analyse the corresponding separation device, then integrate the reasonable program.
2. Optimize the coin chute curve before the testing area based on the slot device. Establish the mathematical model about the coin from dropping to rolling on the coin chute and make dynamic analysis. Set the energy loss as the optimize target, use GA to search the optimized data points, then find the optimized B-spline curve which is interpolating through these data points, so it can make the coin passing through the testing area rapidly.
3. Design the coin chute curve which can reverse the movement of coin. Analyse and compare the energy loss when coin pass through the arc and the spline-based coin chute curve, adopt the arc chute which can minimize the energy loss, the kinetic analysis of coin is also made based on the program.
4. List the planar motion equations of the coin rolling on the chute as well as close to the incline board, establish the constraint equation of uniform motion, then select the relevant parameters of coin chute, the simulation results in the ADAMS indicate that the selection is more reasonable.
5. List the rocking system of differential equations of coin rolling on the coin chute after collision under the condition of different angles between coin chute and incline board, draw a conclusion that appropriate acute angle can play a good role to reduce the rocking.
Through the design and optimization, the efficiency and accuracy can be improved of the very slot device.
引文
[1]孙红,郁琛,周勇.智能投币控制系统的设计与研究.微计算机信息, 2009, 25(8-1): 34
[2]刘洋,杨浩.单片机在硬币辨识及智能投币箱系统中的应用[J].交通与计算机, 2003, 21(1): 52
[3]沈孝芹,于复生,张蔚波等.基于单片机的公交车智能投币监测系统的研制[J].机电产品开发与创新, 2007, 20(5):153
[4]燕志华.南京地铁自动售票机:国内最聪明.新华日报/2005年/03月/04日
[5]李春梅,牛国柱,周建平等.非接触式智能筹码发售模块机构设计.制造业自动化, 2009, 12(31):142-144
[6]何莹,金辰虎.论发展城市轨道交通所需的扶持政策[J].城市轨道交通研究,2001(2):12-15
[7]钱少华,张雁.上海市城市轨道交通系统规划[J].城市规划汇刊. 2002(5):1-4
[8]田鸿滨,那允伟,李邑青.世界城市地下铁道[M].北京:中国铁道出版社, 1998
[9] Feng Peien, Zhang shuai, Pan Shuangxia. Cyclic solving process and realization for conceptual design of complex function product. Chinese Journal of Mechanical Engineering, 2005, 41(3):139-140
[10]冯培恩,陈泳,张帅等.基于产品基因的概念设计.机械工程学报, 2002, 38(10):4-5
[11]熊滨生,现代连杆机构设计,化学工业出版社,2005
[12]赵颜利,王湛,郭成昊等.基于BSC和三次样条曲线的两种自由曲线重建方法.计算机应用研究, 2006, (11):252-254
[13]张海库,刘小兵,刘德民等.基于三次样条拟合法和MATLAB的水轮机特性曲线的绘制[J].水电能源科学, 2008, 26(04):166-168
[14]朱立勋,魏萍.三次样条插值的收敛性[J].长春理工大学学报, 2006, 29(04):131-137
[15]王根祥.硬币分离记数器[专利]. 1987
[16]何建平.自动分币投币机[专利]. 2008
[17]徐华一.硬币分离计数装置[专利]. 2005
[18] Fukumi M, Omatu S. Designing a neural network for coin recognition by a genetic algorithm[C]. IEE Intemational Joint Conference on Neural Networks, 1993, (3):2109-2112
[19] Z.Liu.K. Tsukada, K.Hanasaki,M.Kurisu. Two-Dimensional Eddy Current Signal Enhancement via Multifrequeney Data Fusion [J]. Researeh in Nondestruetive Evaluation,1999, 11(3): 165-177
[20] John C.Peklo. coin chute[United States Patent]. Patent No.:US 6,966,417 B2
[21]陈丹.基于遗传算法B样条曲线优化在机器人轨迹规划中应用[硕士学位论文].武汉科技大学, 2007
[22]曾翰通,李明,杨飞等.测量技术中基于B样条的遗传算法进行曲线重构和变换的研究[J].机械, 2002, 29(6):61-63.
[23] M. Mandal, T.K. Naskar. Introduction of control points in splines for synthesis of optimized cam motion program. Mechanism and Machine Theory, 44(2009) 255-271
[24]王永立.硬币及硬币材料的发展[J].材料科学与工程, 1997, (l):66-68
[25]郭卫东.虚拟样机技术与ADAMS实例教程.北京:北京航空航天大学出版社, 2008
[26] Adams; Thomas P. (Oconomowoc, WI), Zwieg; Robert L. (Watertown, WI). Coin recycling machine and method[United States Patent]. Patent No.:US 7,244,175 B2
[27]梁锡坤. B样条类曲线曲面理论及其应用研究[博士学位论文].合肥工业大学, 2003
[28]王侃昌.基于B样条的自由曲线曲面光顺研究.西北农林科技大学, 2004
[29]施法中.计算机辅助几何设计与非均匀有理B样条[M].北京:高等教育出版社, 2001
[30]尹志光.基于混合驱动五杆机构的打结器优化设计与控制仿真.上海交通大学, 2009
[31]刘勇,康立山,非线性并行算法第二册遗传算法,科学出版社1997
[32]张永曙.一种保形插值三次参数样条.数值计算与计算机应用, 1983, (4):208-215
[33]陈峰,胡宇群.基于型值点的翼型曲线设计方法[J].中国高新技术企业, 2009, (23) :32-33
[34]杨雅迪,秦新强,胡钢等. C-B样条曲线的光顺逼近算法研究[J].计算机工程与应用, 2009, (35) :205-207
[35]朱晓乾.高准确率硬币鉴别装置的设计与实现[D].上海:上海交通大学,2008.
[36]庄锦华.碰撞时的动矩心冲量矩定理及应用[J].天津轻工业学院学报, 1989,(1):88-94.
[37]杨小玲,周天瑞.逆向工程中的数据处理技术[J].南方金属, 2009, (06) :4-7
[38]朱心雄.自由曲线曲面造型技术[M].科学出版社,2000.
[39]刘文超,李春光.关于等距曲线的性质[J].华北水利水电学院学报,1982,(2):82-85.
[40]林意,袁琦睦,何援军.一种过型值点的快速曲线造型算法[J].工程图学学报, 2005,(4):72-76.
[41]王继群,郭勇,索阳阳.逆向工程中三坐标测量机的测量误差分析[J].科技信息, 2009, (31) :1040-1041
[42]张金萍,罗鹏,李允公,刘杰.基于B3样条曲线的高精度凸轮反求设计[J].机械与电子, 2004, (12) :13-15
[43]方忆湘,刘文学.基于几何特性的三次均匀B样条曲线构造描述[J].工程图学学报, 2006,(2):96-102.
[44]郭仁生.基于MATLAB和Pro/ENGINEER优化设计实例解析[M].北京:机械工业出版社, 2007.
[45]袁丹青.谏壁泵站进水流道的数模分析[J].农机化研究, 2005, (06) .
[2]刘洋,杨浩.单片机在硬币辨识及智能投币箱系统中的应用[J].交通与计算机, 2003, 21(1): 52
[3]沈孝芹,于复生,张蔚波等.基于单片机的公交车智能投币监测系统的研制[J].机电产品开发与创新, 2007, 20(5):153
[4]燕志华.南京地铁自动售票机:国内最聪明.新华日报/2005年/03月/04日
[5]李春梅,牛国柱,周建平等.非接触式智能筹码发售模块机构设计.制造业自动化, 2009, 12(31):142-144
[6]何莹,金辰虎.论发展城市轨道交通所需的扶持政策[J].城市轨道交通研究,2001(2):12-15
[7]钱少华,张雁.上海市城市轨道交通系统规划[J].城市规划汇刊. 2002(5):1-4
[8]田鸿滨,那允伟,李邑青.世界城市地下铁道[M].北京:中国铁道出版社, 1998
[9] Feng Peien, Zhang shuai, Pan Shuangxia. Cyclic solving process and realization for conceptual design of complex function product. Chinese Journal of Mechanical Engineering, 2005, 41(3):139-140
[10]冯培恩,陈泳,张帅等.基于产品基因的概念设计.机械工程学报, 2002, 38(10):4-5
[11]熊滨生,现代连杆机构设计,化学工业出版社,2005
[12]赵颜利,王湛,郭成昊等.基于BSC和三次样条曲线的两种自由曲线重建方法.计算机应用研究, 2006, (11):252-254
[13]张海库,刘小兵,刘德民等.基于三次样条拟合法和MATLAB的水轮机特性曲线的绘制[J].水电能源科学, 2008, 26(04):166-168
[14]朱立勋,魏萍.三次样条插值的收敛性[J].长春理工大学学报, 2006, 29(04):131-137
[15]王根祥.硬币分离记数器[专利]. 1987
[16]何建平.自动分币投币机[专利]. 2008
[17]徐华一.硬币分离计数装置[专利]. 2005
[18] Fukumi M, Omatu S. Designing a neural network for coin recognition by a genetic algorithm[C]. IEE Intemational Joint Conference on Neural Networks, 1993, (3):2109-2112
[19] Z.Liu.K. Tsukada, K.Hanasaki,M.Kurisu. Two-Dimensional Eddy Current Signal Enhancement via Multifrequeney Data Fusion [J]. Researeh in Nondestruetive Evaluation,1999, 11(3): 165-177
[20] John C.Peklo. coin chute[United States Patent]. Patent No.:US 6,966,417 B2
[21]陈丹.基于遗传算法B样条曲线优化在机器人轨迹规划中应用[硕士学位论文].武汉科技大学, 2007
[22]曾翰通,李明,杨飞等.测量技术中基于B样条的遗传算法进行曲线重构和变换的研究[J].机械, 2002, 29(6):61-63.
[23] M. Mandal, T.K. Naskar. Introduction of control points in splines for synthesis of optimized cam motion program. Mechanism and Machine Theory, 44(2009) 255-271
[24]王永立.硬币及硬币材料的发展[J].材料科学与工程, 1997, (l):66-68
[25]郭卫东.虚拟样机技术与ADAMS实例教程.北京:北京航空航天大学出版社, 2008
[26] Adams; Thomas P. (Oconomowoc, WI), Zwieg; Robert L. (Watertown, WI). Coin recycling machine and method[United States Patent]. Patent No.:US 7,244,175 B2
[27]梁锡坤. B样条类曲线曲面理论及其应用研究[博士学位论文].合肥工业大学, 2003
[28]王侃昌.基于B样条的自由曲线曲面光顺研究.西北农林科技大学, 2004
[29]施法中.计算机辅助几何设计与非均匀有理B样条[M].北京:高等教育出版社, 2001
[30]尹志光.基于混合驱动五杆机构的打结器优化设计与控制仿真.上海交通大学, 2009
[31]刘勇,康立山,非线性并行算法第二册遗传算法,科学出版社1997
[32]张永曙.一种保形插值三次参数样条.数值计算与计算机应用, 1983, (4):208-215
[33]陈峰,胡宇群.基于型值点的翼型曲线设计方法[J].中国高新技术企业, 2009, (23) :32-33
[34]杨雅迪,秦新强,胡钢等. C-B样条曲线的光顺逼近算法研究[J].计算机工程与应用, 2009, (35) :205-207
[35]朱晓乾.高准确率硬币鉴别装置的设计与实现[D].上海:上海交通大学,2008.
[36]庄锦华.碰撞时的动矩心冲量矩定理及应用[J].天津轻工业学院学报, 1989,(1):88-94.
[37]杨小玲,周天瑞.逆向工程中的数据处理技术[J].南方金属, 2009, (06) :4-7
[38]朱心雄.自由曲线曲面造型技术[M].科学出版社,2000.
[39]刘文超,李春光.关于等距曲线的性质[J].华北水利水电学院学报,1982,(2):82-85.
[40]林意,袁琦睦,何援军.一种过型值点的快速曲线造型算法[J].工程图学学报, 2005,(4):72-76.
[41]王继群,郭勇,索阳阳.逆向工程中三坐标测量机的测量误差分析[J].科技信息, 2009, (31) :1040-1041
[42]张金萍,罗鹏,李允公,刘杰.基于B3样条曲线的高精度凸轮反求设计[J].机械与电子, 2004, (12) :13-15
[43]方忆湘,刘文学.基于几何特性的三次均匀B样条曲线构造描述[J].工程图学学报, 2006,(2):96-102.
[44]郭仁生.基于MATLAB和Pro/ENGINEER优化设计实例解析[M].北京:机械工业出版社, 2007.
[45]袁丹青.谏壁泵站进水流道的数模分析[J].农机化研究, 2005, (06) .