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

【摘要】：石油化工液料裝卸設(shè)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(shù)企業(yè)仍沿用傳統(tǒng)的純?nèi)斯げ僮餮b卸車專用設(shè)備(軟管和鶴管),存在著裝卸設(shè)備與卸料口對(duì)位不準(zhǔn)確、工人勞動(dòng)強(qiáng)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(jī)構(gòu)技術(shù)引用到液料裝卸設(shè)備自動(dòng)化改造中,旨在研發(fā)用于汽車運(yùn)輸方式下的新型液料自動(dòng)卸車裝置。本文重點(diǎn)對(duì)液料自動(dòng)卸車裝置的機(jī)械系統(tǒng)進(jìn)行研究、設(shè)計(jì)和優(yōu)化,設(shè)計(jì)了液壓驅(qū)動(dòng)式軟管接頭機(jī)構(gòu)和滿足大范圍任務(wù)工作空間的并聯(lián)機(jī)構(gòu),搭建了裝置的聯(lián)合仿真試驗(yàn)平臺(tái),驗(yàn)證了設(shè)計(jì)方案的可行性。首先,明確了液料自動(dòng)卸車裝置的功能需求,確定關(guān)鍵技術(shù)指標(biāo),分析了軟管接頭與槽車卸料口對(duì)接過程,研究了考慮柔順性的自動(dòng)對(duì)接方法,結(jié)合實(shí)際工況確定了將軟管固連于液壓驅(qū)動(dòng)的并聯(lián)平臺(tái)上的自動(dòng)對(duì)接方式,建立了基于并聯(lián)機(jī)構(gòu)的液料自動(dòng)卸車裝置機(jī)械系統(tǒng)整體方案。其次,針對(duì)軟管接頭與槽車卸料口可靠自動(dòng)對(duì)接功能,依據(jù)偏置曲柄滑塊機(jī)構(gòu)原理適應(yīng)性設(shè)計(jì)了液壓驅(qū)動(dòng)式軟管接頭機(jī)構(gòu)。研究了液壓驅(qū)動(dòng)式軟管接頭的機(jī)構(gòu)原理,確定了機(jī)構(gòu)運(yùn)動(dòng)參數(shù),基于Matlab對(duì)機(jī)構(gòu)進(jìn)行運(yùn)動(dòng)學(xué)分析和動(dòng)力學(xué)分析,并驗(yàn)證了機(jī)構(gòu)的自動(dòng)卡緊功能,完成了關(guān)鍵件的結(jié)構(gòu)設(shè)計(jì)和強(qiáng)度分析。并聯(lián)機(jī)構(gòu)作為液料自動(dòng)卸車裝置核心的支撐操作平臺(tái),其結(jié)構(gòu)參數(shù)決定著卸車裝置運(yùn)動(dòng)性能。依據(jù)技術(shù)指標(biāo)要求初步確定了經(jīng)驗(yàn)結(jié)構(gòu)參數(shù),分析了其運(yùn)動(dòng)學(xué)性能、動(dòng)力學(xué)性能和工作空間。在此基礎(chǔ)上,探討了并聯(lián)機(jī)構(gòu)的工作空間、液壓缸行程、靈巧度與結(jié)構(gòu)參數(shù)的關(guān)系。綜合考慮以上各矛盾目標(biāo),基于遺傳算法優(yōu)化了結(jié)構(gòu)參數(shù),使機(jī)構(gòu)綜合性能提高17.8%。該并聯(lián)平臺(tái)可實(shí)現(xiàn)側(cè)移0.5m、縱移0.5m、升降0.2m、俯仰20°、偏航20°、滾動(dòng)20°的運(yùn)動(dòng)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(shí)驗(yàn)平臺(tái)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(jī)械系統(tǒng)虛擬樣機(jī),完成了運(yùn)動(dòng)學(xué)仿真驗(yàn)證;基于Adams/Controls接口模塊搭建了聯(lián)合仿真試驗(yàn)平臺(tái)。由聯(lián)合仿真結(jié)果得出,采用前饋補(bǔ)償?shù)腜ID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(nèi),角度跟蹤誤差控制在0.028°之內(nèi),證明了設(shè)計(jì)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(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：TE97;TE65;TP241

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