摘要
在有色金属电解精炼生产过程中,大多存在阴阳极板的转运移载过程。目前,国内的极板转运移载方式一般采用人工或半自动机械加吊具的方式,自动化程度较低,工人的劳动强度大,且存在安全隐患。
本文针对铅残极板的转运移载过程,设计了一种采用托持型抓取方式的全液压移载机械手,并搭建了以Inventor、ADAMS、AMEsim为软件基础的数字样机平台,对移载机械手的数字样机进行了研究,研究内容主要为数字样机三维模型的建立、静态有限元分析、运动学和动力学建模、运动学仿真分析、路径规划、轨迹跟踪的联合仿真等。
根据实际的工况要求,采用Inventor软件设计了移载机械手的机械结构,绘制了机械结构的三维模型图,对所设计机械手的关键零部件进行了静力学有限元分析,验证了设计的合理性。
建立了移载机械手的运动学与动力学模型,确立了移载机械手支撑杆托持面与上、下臂液压缸之间的运动关系及上、下臂液压缸关节力与杆件运动状况之间的关系,并应用Inventor软件的运动分析模块对其进行了运动学仿真分析。
在此基础上,设计了移载机械手动力装置运送下车、旋转装置、提升手臂的液压回路,并对主要的液压元件进行了选型,确定了各个元件的参数。
以所设计的液压回路和元件参数为基础,在AMEsim软件中建立了提升手臂的液压系统仿真模型,并设计了以PID控制器为核心的机械手控制系统。通过ADAMS与AMEsim之间的接口设置,实现了两个软件的无缝连接,建立了包括移载机械手的动力模型、液压模型、控制模型的联合仿真模型,进行了移载机械手的机电液联合仿真,仿真分析结果表明,机械手机电液系统的设计合理,达到了预期的性能指标要求。
There is a transport process of the cathode residual anode plate in the process of electrolytic refining non-ferrous metals. At present the plate transport is mostly completed by manual or semi-automatic machine combined with lifting appliance in the domestic, which has a lower degree of automation and higher labor intensity. What is more, there are potential safety hazards.
The residual anode plate processed in the lead refined is researched in this thesis. A full hydraulic transfer manipulator that uses a type of supporting form to grab residual anode plate is designed. A digital prototyping platform based on the software of Inventor, ADAMS and AMEsim is built. The research content of this thesis includes the3D modeling of digital prototyping, the analysis andmodeling of kinematics and dynamics, path planning.the establishment of CO-simulation experimental platform of mechanical-electrical-hydraulic coupling system.
According to the actual work condition, mechanical structure of carrying manipulator is designed.and we use the software of Inventor to draw a three dimensional model.The static finite element analysis is done for key components to verify the rationality of the design.
A kinematics and dynamics model of carrying manipulator is established and analyzed. Then its trajectory is planed according to the above analysis. The motion relationship between supporting face and hydraulic cylinder of up and down arm is established for the carrying manipulator. So does the joint force of cylinder and the movement of rod.
The hydraulic system of carrying manipulator is designed based on above relationship and the hydraulic circuit of power plant, rotary device and ascension arm are designed too. The main hydraulic components are selected and the parameters are determined.
Hydraulic system simulation model is established in the software of AMEsim based on the designed hydraulic loop and component parameters. Meanwhile, we design a manipulator control system which the PID controller is the core. The interface between ADAMS and AMEsim is setup properly so as to achieve the seamless connection. And then a joint simulation model including dynamic model, hydraulic model and control model of carrying manipulator is established. Mechanical, electrical and hydraulic system model has been simulated comprehensively. Through the analysis of the simulation results, we can conclude that the designed system is reasonable, which can meet the practical production needs.
引文
[1]李红宇.翻引钢机械手的设计与研究[硕士学位论文].秦皇岛.燕山大学,2003
[2]陆祥生.机械手理论及应用.北京：中国铁道出版社,1985
[3]余达太,马香峰等.工业机器人应用工程.北京：冶金工业出版社,1999
[4]胡玮.机械手自动抓取钢卷系统的研究[硕士学位论文].武汉,武汉理工大学,2009
[5]ZavrazhinaT V.Control of spatial motions of robot-manipulator with translational couplings Journal of Automation and Information Sciences.2005,37(6):61-70
[6]SunD,Lu R,Mills J K.Synchronous tracking control of parallel manipulators using cross-coupling approach.International Journal of Robotics Researc-h.2006,25(11):1137-1147
[7]胡正义.桁架片移载机械手优化设计及计算机仿真[硕士学位论文].武汉,武汉理工大学,2007
[8]Marchand E.Chaumette F.Spindler Fetal. Controlling the manipulator of an underwater ROV using a coarse calibrated pan/tilt camera.Prcoeedings of the 2001 IEEE Intenational Conference on Robotics and Automation. Seoul:2001, 3,2773-2778
[9]章艳.压力适应型深海水下液压机械手及主从式多关节复合控制研究[硕士学位论文].杭州,浙江大学,,2006
[10]Gottfried R,Batter R,Lagerbauer B.ITER Port Handling System Design.Final Reportfrom ITER International Team, Contract No:FU05-CT-2002-00071, EFDA Order No:931851HW
[11]P.D.Weng.The Engineering Design of the HT-7U Tokamak.21th Symposium on Fusion Technology.Madrid,2003
[12]李建刚,杨愚.受控热核聚变研究及其在我国HT-7超导托卡马克上的最新进展.物理.2003,32(12)：787-790
[13]杨秀清.机电液耦合的移载机械手虚拟样机研究[博士学位论文].合肥.中国科学技术大学.2008
[14]Rout BK.Mittal RK.Parametric design optimization of 2-DOF R-R planar manipulator-Adesign of experiment approaches.Robotics and Computer-Integra -ted Manufacturing.2008,24(2):239-248
[15]E.KobayashF, K.Masamuneb. The safe and simple man-machine interface for alaparoscopic manipulator system. Biomonitoring and Endoscopy Technologi-es.2001,10(1):174-179
[16]曹德飞.翻引钢机械手的设计与研究[硕士学位论文].大连,大连理工大学,2006
[17]Azad A K M,Tokhi MO,Shaheod M H A.Software environment for intelligent modeling and simulation of flexible manipulator systems.Computers in Education Journal.2007,17(4):86-102
[18]Basher Hasanul A.Modeling and simulation offlexible robot manipulatorwitll aprismatic joint.Conference Proceedings-IEEE Southeastcon.Virginia,2007
[19]Quiocho Leslie J,Huynh An,Crues Edwin Z.Application of multibody dynamics to on-orbit manipulator simulations.International Conference on Multibody Systems Nonlinear Dynamics and Control.San Diego.2005
[20]Yang Z Y,Huang T,Xu X.Variable structure control of high-speod parallel manipulator considering the mechatronics coupling model.International Journal of Advanced Manufacturing Technology.2007.34(9):1037-1051
[21]Shadpey F.Ranjbaran F,Angeles J.A collision-avoidance scheme for redundant manipulators:Theory and experiments.Journal of Robotic Systems.2005,22(1 2):737-757
[22]梁喜凤,苗香雯,崔绍荣等.番茄收获机械手运动学优化与仿真实验.农业机械学报.2005,36(7)：96-99
[23]熊小辉.高速精密重载机械手多领域仿真与动力学分析研究[硕士学位论文].重庆,重庆交通大学,2010
[24]车仁炜,吕广明,孙立宁.五自由度康复机械手臂的设计.机械设计.2005,22(4)：18-21
[25]师名林,赵新华.四自由度串联机械手的逆动力学建模及仿真.天津理工大学学报.2006,22(5)：37-40
[26]张敏,石秀华,吴一红.基于ADAMS的三自由度水下机械手运动学仿真.机械设计与制造.2005,7：85-86
[27]陈立平,张云清,任卫群等.机械系统动力学分析及ADAMS应用教程.北京：清华大学出版社,2005
[28]A. W.Court.Issues for Integrating Knowledge in New Product Development:Reflec -tions from an Empirical Study.Knowledge-BasedSystems.1998 (11):391-398.
[29]陆林,李耀明.虚拟样机技术及其在农业机械设计中的应用.中国农业化.2004,4：59-61
[30]Xue D,Yadav S,Norrie D H.Knowledge base and database representation for intelligent concurrent design.Computer-Aided Design.1999,31:131-145
[31]李胜军.单侧曲轨自卸式矿车的动力学研究[硕士学位论文].昆明,昆明理工大学,2011
[32]Jianxin Jiao, Mitchell M.Tseng. An Information Modeling Framework for Product Families to Support Mass Customization Manufacturing. Annuls of CIRP.1999, 48(1):93-98
[33]F.J.A.M.van Houten,Tomiyama T,Salomons OW.Product Modeling for Model-based Maintenance. Annals of CIRP.1998,47(1):123-128
[34]Liang WY,Peter O Grady.Design with objects:an approach to object-oriented design.Computer-Aided Design.1998,30(12):943-956
[35]Gortit SR.Guptat A, Kim GJ, Sriram RD, Wong A. An object-oriented representa-tion for product and design process.Computer-Aided Design.1998,30(7):489-501
[36]姚立新.基于SolidWorks的低温冷榨榨油机的数字化设计[硕士学位论文].天津,天津大学,2010
[37]高利,迟毅林,曾谢华.虚拟产品开发中的虚拟样机技术和数字样机技术.机械研究与应用.2005,18(5)6-7
[38]张毅,刘琳娟.虚拟数字样机(VPD)技术支持的研究.现代制造工程.2002,10：19-22
[39]李剑锋,汪建兵,林建军等.机电系统联合仿真与集成优化.北京：电子工业出版社,2010
[40]有色金属冶炼设备编委会.有色金属冶炼设备(第1版).火法冶炼设备.北京：冶金工业出版社,1993
[41]李留柱.电液比例控制在电铅抽棒装置上的应用研究[硕士学位论文].昆明.昆明理工大学,2009
[42]李卫民,杨红义,王宏祥ANSYS工程结构实用案例分析.北京：化学工业出版社,2007
[43]杨牧原.基于有限元分析的大型落地数控镗铣床立柱的设计与优化[硕士学位论文].合肥.合肥工业大学,2009
[44]徐元昌,陶学恒,沈晓红.工业机器人(第1版).北京：中国轻工业出版社,1999
[45]巴少男.基于H∞控制理论的气动机械手夹持力控制系统的研究[硕士学位论文].昆明.昆明理工大学,2011
[46]Rachkov, M Yu. Optimal control of the position of a pneumatic manipulator with the use of an observation loop.Izvestiya Akademii Nauk.Teoriya i Sistemy Upravleniya.2001,3(2):155-160
[47]Gengyin Zhu,Jing Luo,Yubi Yuan,etal.Application and Prospect of Pneum-atic Servo Manipulator in Medical (Surgical). Frontiers of Manufacturing and De-sign Science.2011:1745-1750
[48]Bobrow James E. Modeling identification and control of a pneumatically actuated force controllable robot.IEEE transaction on robotics and Aumotation.1998, 14(5):732-742
[49]高国富.机器人传感器及其应用.北京：化学工业出版社,2005
[50]何敏.纯水液压系统的研究与分析[硕士学位论文].昆明,昆明理工大学,2011
[51]袁子荣.液气压传动与控制.重庆：重庆大学出版社.2002
[52]Kim CS, CO Lee.Speed control of an overcentered variable-displacement hydraulic motor with a load-torque observer. Control Engineering Practice. 1996,4(11):1563-1570
[53]F.Zehner.Vergesteuerte druckventile mit direkter hydrauliseh mechanischer und elektrischer Drnckmessung. [PhD Dissertation]. Aachen:Aachen TH,1987
[54]张宗成.基于压电式气动伺服阀的研究[硕士学位论文].昆明,昆明理工大学,2011
[55]HY Yang, S Hu, GF Gong, etal. Electro-hydraulic proportional control of thrust system for shield tunneling machine. Automation in Construction.2009,18(7): 950-956
[56]J Luo, CG Sun, P Zhang, etal. Research on control system of pump and valve parallel connection. Applied Mechanics and Materials.2011,44 (47):1751-1757
[57]REXROTH.Proportional and Servo Valve technology.The Hydraulic Trainer V.2.REXROTH,2003
[58]SY Lee, HS Cho. A fuzzy controller for an electro-hydraulic fin actuator using phase plane method. Control Engineering Practice.2003,11(6):697-708
[59]胡东明.液压电梯变转速闭式电液系统速度控制特性研究.[硕士学位论文].浙 江,浙江大学,2009
[60]K Li, MA Mannan, MQ Xu. Electro-hydraulic proportional control of twin-cylinder hydraulic elevators. Control Engineering Practice.2001,9(4):367-373
[61]Dinh QT, Kyoung KA. Force control for hydraulic load simulator using self-tuning grey predictor-fuzzy PID. Mechatronics.2009,19(2):233-246
[62]窦美玲.基于虚拟样机技术的乳化液泵特性研究[硕士学位论文].西安,西安科技大学,2009
[63]刘仙船.基于虚拟样机的斜柱塞泵仿真研究[硕士学位论文].成都,西南交通大学,2010
[64]刘森.电液比例控制在铅阴极步进输送机的应用研究[硕士学位论文].昆明,昆明理工大学,2011
[65]JY Zhao,YQ Wang,YC Wangetal.Eeperiment study on dynamic characteristics of bending roll electro-hydraulic servo control system of rolling mills.Mechanical Enginenring of china.l989,9(4):6-9
[66]张震宇.高功率微波源功率输出控制技术的研究[硕士学位论文].南京,东南大学.2000