【摘要】：針對公共場所室內(nèi)清掃車工作過程中轉(zhuǎn)彎出現(xiàn)清掃不到位問題,本文提出一種死角清掃機(jī)構(gòu)設(shè)想,即采用清掃補(bǔ)償法的想法,在傳統(tǒng)清掃機(jī)構(gòu)基礎(chǔ)上進(jìn)行改進(jìn),實(shí)現(xiàn)清掃車無死角清掃。死角清掃機(jī)構(gòu)是本文設(shè)計研究的關(guān)鍵部件,工作過程中承受載荷,極易發(fā)生變形。應(yīng)用有限元分析軟件ANSYS方法對死角清掃機(jī)構(gòu)的受力關(guān)鍵部位進(jìn)行分析,對機(jī)構(gòu)進(jìn)行優(yōu)化設(shè)計,以滿足工作需求。死角清掃機(jī)構(gòu)在獨(dú)立電機(jī)驅(qū)動下,需要與清掃車的轉(zhuǎn)向速度匹配,實(shí)現(xiàn)死角最大化清掃。針對這一問題,本文以死角清掃機(jī)構(gòu)為研究對象,以現(xiàn)有成型的公共場所室內(nèi)清掃車為研究背景,利用運(yùn)動分析軟件ADAMS對現(xiàn)有公共場所室內(nèi)清掃車和死角清掃機(jī)構(gòu)進(jìn)行運(yùn)動學(xué)分析,驗證死角清掃機(jī)構(gòu)能否實(shí)現(xiàn)死角清掃,并且試驗出與清掃車速度匹配的轉(zhuǎn)速。主要研究內(nèi)容如下:(1)查閱相關(guān)資料對現(xiàn)有清掃車清掃機(jī)構(gòu)及原理進(jìn)行研究,根據(jù)阿克曼轉(zhuǎn)向定律推出最小轉(zhuǎn)彎半徑,設(shè)計公共場所室內(nèi)清掃車,為死角清掃機(jī)構(gòu)的設(shè)計研究提供平臺和數(shù)據(jù)基礎(chǔ)。(2)利用三維建模軟件Solid Works中的參數(shù)化和特征造型技術(shù)建立死角清掃機(jī)構(gòu)及整機(jī)的三維實(shí)體模型,對裝配體進(jìn)行可視化的虛擬裝配、干涉檢查。(3)利用ADAMS軟件對整機(jī)進(jìn)行運(yùn)動學(xué)分析,從運(yùn)動位移圖中得出最小轉(zhuǎn)向半徑和距離墻壁最大距離,設(shè)計死角清掃機(jī)構(gòu)。對比分析添加死角清掃機(jī)構(gòu)的運(yùn)動位移圖,實(shí)驗在不同轉(zhuǎn)速下的運(yùn)動位移圖,匹配出與清掃車高速、中速、低速轉(zhuǎn)向過程中的死角清掃機(jī)構(gòu)的轉(zhuǎn)速。(4)分析死角清掃機(jī)構(gòu)工作時的受力情況,運(yùn)用ANSYS軟件對關(guān)鍵受力機(jī)構(gòu)進(jìn)行靜力學(xué)分析。通過分析得到原有設(shè)計的曲柄連桿機(jī)構(gòu)不能滿足正常工作,根據(jù)分析結(jié)果從結(jié)構(gòu)、材料等方面對曲柄連桿機(jī)構(gòu)進(jìn)行改進(jìn)優(yōu)化,材料由Q235改為45號鋼,曲柄厚度由5mm改為10mm,中間在考慮加工工藝情況下設(shè)計為中空結(jié)構(gòu),在比較薄弱的位置添加加強(qiáng)筋,在死角清掃機(jī)構(gòu)質(zhì)量變化較小的情況下保證了工作需要。(5)設(shè)計超聲波測距單片機(jī)控制系統(tǒng),準(zhǔn)確測量死角清掃機(jī)構(gòu)與墻壁距離,防止發(fā)生碰撞,實(shí)現(xiàn)機(jī)電一體化的有效結(jié)合。
[Abstract]:In view of the problem of not cleaning in turn in the working process of indoor sweeper in public places, this paper puts forward an assumption of dead-angle cleaning mechanism, that is, adopting the idea of cleaning compensation method and improving on the basis of traditional cleaning mechanism. Realize cleaning car without dead angle cleaning. Dead-angle cleaning mechanism is a key component in this paper. It is easy to deform when working under load. The finite element analysis software ANSYS was used to analyze the key parts of the dead-angle cleaning mechanism, and to optimize the design of the mechanism to meet the needs of the work. The dead-angle cleaning mechanism driven by an independent motor needs to match the steering speed of the sweeper to maximize the dead-angle cleaning. Aiming at this problem, this paper takes the dead-angle cleaning mechanism as the research object, and takes the existing formed indoor sweeper in public places as the research background. The kinematics analysis of indoor sweeper and dead-angle cleaning mechanism in public places is carried out by using the motion analysis software ADAMS to verify whether the dead-angle cleaning mechanism can realize dead-angle cleaning and the speed matching with the speed of sweeper is tested. The main research contents are as follows: (1) referring to the relevant data to study the existing sweeper cleaning mechanism and principle, according to Ackerman's law of steering to deduce the minimum turning radius, design the indoor sweeping vehicle in public places, It provides a platform and data basis for the design and research of dead-angle cleaning mechanism. (2) using the parameterization and feature modeling technology in the three-dimensional modeling software Solid Works, the dead-angle cleaning mechanism and the 3D solid model of the whole machine are established. Visual virtual assembly and interference inspection of the assembly. (3) the kinematics analysis of the whole machine is carried out by using ADAMS software, the minimum steering radius and the maximum distance from the wall are obtained from the motion displacement diagram, and the dead-angle cleaning mechanism is designed. By comparing and analyzing the motion displacement diagram of adding dead-angle cleaning mechanism, the motion displacement map of the experiment under different rotational speeds is matched with the high-speed and medium-speed sweeper. The rotational speed of dead-angle cleaning mechanism in low-speed steering. (4) the stress of dead-angle cleaning mechanism is analyzed, and the statics analysis of the key mechanism is carried out by using ANSYS software. Through the analysis, it is found that the original designed crank and connecting rod mechanism can not meet the normal work. According to the analysis results, the crank linkage mechanism is improved from Q235 to 45 steel, and the thickness of the crank is changed from 5mm to 10mm, according to the analysis results, the crank linkage mechanism is improved and optimized from the structure and material aspects. The middle is designed as a hollow structure under the consideration of processing technology, the reinforcement is added in the weaker position, and the work needs are ensured under the condition that the mass change of the dead angle cleaning mechanism is small. (5) the ultrasonic distance measuring single-chip microcomputer control system is designed. The distance between the dead angle cleaning mechanism and the wall is accurately measured to prevent collision and realize the effective combination of mechatronics.
【學(xué)位授予單位】：石河子大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：U469.691
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本文編號：2414612