新型高效堆垛机的总体方案与关键部件的设计研究
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摘要
堆垛机械手是冶金行业普遍使用的,用于20Kg铝锭连续铸造机组中的专用设备。本文研究的对象是应用于铝锭铸造过程中的堆垛机械手,结合实际工况环境,分析了原有堆垛机工作中影响生产效率的因素,提出了改进的方案,通过虚拟技术和传统经验理论设计相结合,利用二维和三维工程设计软件AUTOCAD、Pro/Engineer对改进的堆垛机械手进行了虚拟设计和运动学和振动分析,验证设计的合理性,进而优化了结构,提高生产效率。
本课题以应用研究为侧重点,重点预知和掌握已设计完成的机械手结构的可行性、合理性。主要做了如下几方面工作:
1)研究现有堆垛机各工序的工作效率。分析各工序的工作效率并找出最主要影响效率的工序。
2)对上述最主要影响效率的工序,分析其影响效率的原因并提出新的解决方案,理论上论证其是否可行。
3)提出高效堆垛机新的总体设计方案,并进行方案论证,使其效率达到22t/h。
4)对新方案和其中关键部件进行结构设计,使其满足使用要求。
5)关键部件的运动进行数学理论建模,并进行机械系统动力学分析。以便后序利用分析取得的数据,进行该部件中重要零件的优化设计。
6)利用pro/Engineer建立新设计的关键部件三维模型并虚拟装配,检查其设计在装配工艺、空间运动上是否正确,并将错误改正,减少产品开发周期,节约成本。
Ingot manipulator which is the dedicated device used for 20Kg Aluminium Ingot Continuously Casting Machines of the metallurgy industry. Object of this paper is ingot machinery which is applied to the course of Aluminium Ingot Continuously Casting Machines. The deficiency of the production rate machine originally in the work is analyzed by combining the actual industrial and mining's environment. The propose is to improve scheme, combining fictitious technology and traditional experience theory. AutoCad and Pro/Engineer are used to design the ingot manipulator. Thereinto, the real motion state of the simulation organization is simulated. At the same time, the rationality of design is verified. At last, structure will be optimized.Application study is the emphasis point of this subject. The feasibility and rationality of the structure of the manipulator will be foreseen and mastered. Here is the following work mainly.First, we explore the availability of every process of existing ingot manipulator. Analyzing the availability of every process and finding the main process for affecting the efficiency.Second, through analyzing the reason for affecting the efficiency, we put forward a new method, and demonstrate whether it feasible or not in theory.Third, we come up with a new total design program of ingot manipulator with high availability, demonstrate the program and make the efficiency up to 22 tons per hourFourth, we proceed structural design for the new program and some key parts and make them satisfy the operating requirementFifth, proceeding model building by mathematic theory for the movement of key parts, and dynamic analysis for mechanical system, in order to use the analyzing data in later and optimum design the important parts.At last, we use Pro/Engineer to build 3D model for key parts of new design and to proceed virtual assembly, check out whether the design right or not on assembly process and space motion, and correcting the error is to shorten the development cycle of product and save cost.
本课题以应用研究为侧重点,重点预知和掌握已设计完成的机械手结构的可行性、合理性。主要做了如下几方面工作:
1)研究现有堆垛机各工序的工作效率。分析各工序的工作效率并找出最主要影响效率的工序。
2)对上述最主要影响效率的工序,分析其影响效率的原因并提出新的解决方案,理论上论证其是否可行。
3)提出高效堆垛机新的总体设计方案,并进行方案论证,使其效率达到22t/h。
4)对新方案和其中关键部件进行结构设计,使其满足使用要求。
5)关键部件的运动进行数学理论建模,并进行机械系统动力学分析。以便后序利用分析取得的数据,进行该部件中重要零件的优化设计。
6)利用pro/Engineer建立新设计的关键部件三维模型并虚拟装配,检查其设计在装配工艺、空间运动上是否正确,并将错误改正,减少产品开发周期,节约成本。
Ingot manipulator which is the dedicated device used for 20Kg Aluminium Ingot Continuously Casting Machines of the metallurgy industry. Object of this paper is ingot machinery which is applied to the course of Aluminium Ingot Continuously Casting Machines. The deficiency of the production rate machine originally in the work is analyzed by combining the actual industrial and mining's environment. The propose is to improve scheme, combining fictitious technology and traditional experience theory. AutoCad and Pro/Engineer are used to design the ingot manipulator. Thereinto, the real motion state of the simulation organization is simulated. At the same time, the rationality of design is verified. At last, structure will be optimized.Application study is the emphasis point of this subject. The feasibility and rationality of the structure of the manipulator will be foreseen and mastered. Here is the following work mainly.First, we explore the availability of every process of existing ingot manipulator. Analyzing the availability of every process and finding the main process for affecting the efficiency.Second, through analyzing the reason for affecting the efficiency, we put forward a new method, and demonstrate whether it feasible or not in theory.Third, we come up with a new total design program of ingot manipulator with high availability, demonstrate the program and make the efficiency up to 22 tons per hourFourth, we proceed structural design for the new program and some key parts and make them satisfy the operating requirementFifth, proceeding model building by mathematic theory for the movement of key parts, and dynamic analysis for mechanical system, in order to use the analyzing data in later and optimum design the important parts.At last, we use Pro/Engineer to build 3D model for key parts of new design and to proceed virtual assembly, check out whether the design right or not on assembly process and space motion, and correcting the error is to shorten the development cycle of product and save cost.
引文
[1] 郑建荣 著.ADAMS——虚拟样机技术入门与提高.机械工业出版社,2001
[2] 康凤举 主编.现代仿真技术与应用.国防工业出版社,2001
[3] 徐灏 主编.机械设计手册1～5.机械工业出版社,1991
[4] 林清安 编.PRO/Engineer2001,零件设计基础篇(上,下篇),清华大学出版社 2002.5
[5] 林清安 编.PRO/Engineer2001,零件设计高级篇(上,下篇),清华大学出版社 2002.9
[6] 林清安 编.PRO/Engineer2001,零件装配与产品设计,清华大学出版社,2003-3
[7] 东北重型机械学院 编.机床夹具设计手册(第二版),上海科学技术出版社,1990.2
[8] 上海柴油机厂工艺设备研究所 编.金属切削机床夹具设计手册,机械工业出版社,1984
[9] 闻邦椿,刘树英 等著.振动机械的理论与动态设计方法,机械工业出版社,2001;
[10] 徐秉业,刘信声 著.应用弹塑性力学,清华大学出版社,2001.3;
[11] 胡邦喜 著.设备液压基础(第2版), 冶金工业出版社,2002
[12] 洛阳工学院 编.机床夹具设计手册,机械工业出版社,1986
[13] 陈立平等 著.机械系统动力学分析及ADAMS应用教程,清华大学出版社,2001
[14] 赵俊天,芮执元等.LDJ-20新型全自动铝锭堆垛机的研制,兰州理工大学学报,2005,31(3)
[15] 马超.20kg铝锭连续铸造机自动堆垛系统的改进,有色设备,2005(1)
[16] 赵建军,刘连会.全自动铝锭堆垛机的改进,甘肃冶金,2004,26(3)
[17] 蔡改贫,张晓莉.铝锭堆垛机械手的运动学分析及其仿真[J].江西有色金属.2003,6
[18] 姜小丹.自动化仓库的发展及展望[J],北京联合大学学报.1994,3
[19] 王勇军,周奇才.自动化仓库堆垛机高速运行控制技术,起重运输机械,2003.1
[20] 兰州理工大学机电院冶金裂纹研究所.20kg铝锭连续铸造机组说明书,甘肃工大高新技术成果推广转化中心
[21] 冯瑞成,王鹏,芮执元.新型高速全自动铝锭堆垛机的研制,机床与液压,2007,3
[22] 刘建志,彭政华,胡逢波.密封轧机轴承及其应用,轴承,2001,10
[23] 李立堂,王献锋.航空轴承寿命评估,轴承,2001,10
[24] 陈东帆,李莉敏等.虚拟制造技术中的仿真系统,机械工业出版社,2001
[25] 周祖德.快速制造与虚拟制造,中国机械工程,1999,8
[26] 隋丽杰.精密剪切设备的虚拟开发研究,兰州理工大学硕士学位论文,2003
[27] 肖定国.多节伸缩式液压缸的探讨,液压与气动,2005,3
[28] 李雪梅,曾德怀等.冲击气缸的设计与应用,液压与气动,2005,3
[29] 杨振球,易孟林.高精度气动机械手的研发及其应用,液压与气动 2006,2
[30] 韩致信,石文瑞等.齿轮系统振动加剧齿轮磨损毁坏的机理分析,机械传动,2006,2
[31] C. G. Kang, Y. J. Jung and S. W. Youn. Horizontal reheating of aluminum alloys and semi-solid casting for a near net shape compressor component. Journal of Materials Processing Technology, Volume 135, Issues 2-3, 20 April 2003
[32] Zhang Weishan, Xiong Shoumei and Liu Baicheng. Study on a CAD/CAE system of die casting. Journal of Materials Processing Technology, Volume 63, Issues 1-3, January 1997
[33] G. B. Brook. Improving the quality of aluminium diecastings by novel techniques Materials & Design, Volume 3, Issue 5, October 1982
[34] R. I. L. Guthrie and R. P. Tavares. Mathematical and physical modelling of steel flow and solidification in twin-roll/horizontal belt thin-strip casting machines Applied Mathematical Modelling, Volume 22, Issue 11, November 1998
[35] Robert Heard and N. Kaell. Technological developments for high speed casting of sensitive steel grades, Canadian Metallurgical Quarterly, Volume 38, Issue 5, December 1999, Pages 331-335
[36] Dai Gil Lee, Chang Sup Lee, Hak Gu Lee, Hui Yun Hwang and Jong Woon Kim. Novel applications of composite structures to robots, machine tools and automobiles Composite Structures, Volume 66, Issues 1-4, October-December 2004,
[2] 康凤举 主编.现代仿真技术与应用.国防工业出版社,2001
[3] 徐灏 主编.机械设计手册1～5.机械工业出版社,1991
[4] 林清安 编.PRO/Engineer2001,零件设计基础篇(上,下篇),清华大学出版社 2002.5
[5] 林清安 编.PRO/Engineer2001,零件设计高级篇(上,下篇),清华大学出版社 2002.9
[6] 林清安 编.PRO/Engineer2001,零件装配与产品设计,清华大学出版社,2003-3
[7] 东北重型机械学院 编.机床夹具设计手册(第二版),上海科学技术出版社,1990.2
[8] 上海柴油机厂工艺设备研究所 编.金属切削机床夹具设计手册,机械工业出版社,1984
[9] 闻邦椿,刘树英 等著.振动机械的理论与动态设计方法,机械工业出版社,2001;
[10] 徐秉业,刘信声 著.应用弹塑性力学,清华大学出版社,2001.3;
[11] 胡邦喜 著.设备液压基础(第2版), 冶金工业出版社,2002
[12] 洛阳工学院 编.机床夹具设计手册,机械工业出版社,1986
[13] 陈立平等 著.机械系统动力学分析及ADAMS应用教程,清华大学出版社,2001
[14] 赵俊天,芮执元等.LDJ-20新型全自动铝锭堆垛机的研制,兰州理工大学学报,2005,31(3)
[15] 马超.20kg铝锭连续铸造机自动堆垛系统的改进,有色设备,2005(1)
[16] 赵建军,刘连会.全自动铝锭堆垛机的改进,甘肃冶金,2004,26(3)
[17] 蔡改贫,张晓莉.铝锭堆垛机械手的运动学分析及其仿真[J].江西有色金属.2003,6
[18] 姜小丹.自动化仓库的发展及展望[J],北京联合大学学报.1994,3
[19] 王勇军,周奇才.自动化仓库堆垛机高速运行控制技术,起重运输机械,2003.1
[20] 兰州理工大学机电院冶金裂纹研究所.20kg铝锭连续铸造机组说明书,甘肃工大高新技术成果推广转化中心
[21] 冯瑞成,王鹏,芮执元.新型高速全自动铝锭堆垛机的研制,机床与液压,2007,3
[22] 刘建志,彭政华,胡逢波.密封轧机轴承及其应用,轴承,2001,10
[23] 李立堂,王献锋.航空轴承寿命评估,轴承,2001,10
[24] 陈东帆,李莉敏等.虚拟制造技术中的仿真系统,机械工业出版社,2001
[25] 周祖德.快速制造与虚拟制造,中国机械工程,1999,8
[26] 隋丽杰.精密剪切设备的虚拟开发研究,兰州理工大学硕士学位论文,2003
[27] 肖定国.多节伸缩式液压缸的探讨,液压与气动,2005,3
[28] 李雪梅,曾德怀等.冲击气缸的设计与应用,液压与气动,2005,3
[29] 杨振球,易孟林.高精度气动机械手的研发及其应用,液压与气动 2006,2
[30] 韩致信,石文瑞等.齿轮系统振动加剧齿轮磨损毁坏的机理分析,机械传动,2006,2
[31] C. G. Kang, Y. J. Jung and S. W. Youn. Horizontal reheating of aluminum alloys and semi-solid casting for a near net shape compressor component. Journal of Materials Processing Technology, Volume 135, Issues 2-3, 20 April 2003
[32] Zhang Weishan, Xiong Shoumei and Liu Baicheng. Study on a CAD/CAE system of die casting. Journal of Materials Processing Technology, Volume 63, Issues 1-3, January 1997
[33] G. B. Brook. Improving the quality of aluminium diecastings by novel techniques Materials & Design, Volume 3, Issue 5, October 1982
[34] R. I. L. Guthrie and R. P. Tavares. Mathematical and physical modelling of steel flow and solidification in twin-roll/horizontal belt thin-strip casting machines Applied Mathematical Modelling, Volume 22, Issue 11, November 1998
[35] Robert Heard and N. Kaell. Technological developments for high speed casting of sensitive steel grades, Canadian Metallurgical Quarterly, Volume 38, Issue 5, December 1999, Pages 331-335
[36] Dai Gil Lee, Chang Sup Lee, Hak Gu Lee, Hui Yun Hwang and Jong Woon Kim. Novel applications of composite structures to robots, machine tools and automobiles Composite Structures, Volume 66, Issues 1-4, October-December 2004,
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