专用立式吊具机构优化设计与仿真研究
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摘要
专用吊具在不同行业得到广泛的应用,种类繁多,本论文以冶金行业专用立式钢卷吊具作为研究对象展开系统的分析。
针对立式吊具方案选择和评价中的因素种类繁多,具有关联性和模糊性等特点,建立了立式吊具的三级模糊综合评价体系。对单臂和双臂立式吊具进行三级模糊综合评价,筛选出双臂立式吊具方案作为本文吊具研究的设计结构方案。对双臂立式吊具的结构和工作原理进行分析,建立曲杆开合范围的数学关系式。对拉杆、曲杆、内钳臂等进行受力分析,获得各个铰接处以及对夹紧力的参数化关系和数学模型。利用Pro/E完成各个零部件几何模型的设计,在ADAMS平台构建双臂立式吊具的虚拟样机仿真模型,针对不同的试验工况,对吊具功能的实现、铰接副受力和夹紧力等进行了较全面的动力学仿真试验分析,并进行了验证。在ABAQUS平台建立了吊具的拉杆、曲杆和内钳臂等主要受力件的有限元分析模型,基于吊具虚拟样机的系统分析结果,进行有限元结构应力分析,用第四强度理论验证各个杆件的强度状况。针对研究中发现的钳脚对钢卷的夹紧力过大等问题,建立吊具结构的优化模型,进行参数化分析,获得吊具重量、夹角、曲杆长度等变化的影响规律,为寻找吊具结构的最优解奠定了基础。
本文利用虚拟样机技术,对双臂立式吊具的理论分析、建模、仿真试验分析等进行了较全面的研究,提高了吊具系统的研发效率和使用性能,有助于提高大型专用吊具的设计开发水平。
Vertical tong mechanism is used to lift and transfer steel coil, which has been widely used in the practical production. However, Vertical tong mechanism has rare species and there lacks a highly perceptive analysis of the whole mechanism. This paper aims to using vertical coil tong as investigating subject to have a highly perceptive systemic theory study on the optimization and structure analysis of the two-armed vertical coil tong mechanism.
Considering the associativity and ambiguity of a great variety of influencing factors in the project assessment of the vertical tong mechanism, two-armed vertical coil tong mechanism is selected as investigating subject while three-level fuzzy comprehensive evaluation model as project assessment method to analyze its working principle and the connected relation of the member bars, construct reduced graph of unilateral principle and establish magnitude relation between the clamping force and system parameters. On the basis of establishing virtual simulation model using Pro/E and ADAMS, dynamic simulation analysis of the whole tong system under different situation has been done and at the same time the functionality, accuracy and mechanical property of the system has been analyzed and testified. According to the simulation result, based on stress analysis of the tie rod, curved rod and lead tong arm using finite element analysis software ABAQUS, stiffness of every member bar is testified on the basis of fourth strength theory. On the concerning of some problems in the process of establishing optimization model of the whole system, such as that maximum stresses of the tie rod and curved rod are far less than allowable stress and intensity of the lead tong arm can't be ensured as well as oversized clamping forces and so on, the length and included angle of the curved rod are selected as design variables, minimum mass of the tong mechanism as objective function, the clamping force between tong leg and coil as constraint condition and numerical values of the design variables are obtained from different segmentations using parametric analysis method. With the analysis result of obtaining values from different segmentations through combination of ADAMS test and numerical calculation, the change regularity has been concluded, which has provided theory foundation of construction optimization.
Compressive theoretical analysis and simulation analysis system of the two-armed vertical coil tong mechanism has been established through virtual prototyping technology. The study efficiency and practical usability of the tong system has been significantly improved on the basis of highly perceptive analysis of structure and performance of the vertical tong mechanism, which can be notably conducive to the wide application and development of the tong mechanisms.
针对立式吊具方案选择和评价中的因素种类繁多,具有关联性和模糊性等特点,建立了立式吊具的三级模糊综合评价体系。对单臂和双臂立式吊具进行三级模糊综合评价,筛选出双臂立式吊具方案作为本文吊具研究的设计结构方案。对双臂立式吊具的结构和工作原理进行分析,建立曲杆开合范围的数学关系式。对拉杆、曲杆、内钳臂等进行受力分析,获得各个铰接处以及对夹紧力的参数化关系和数学模型。利用Pro/E完成各个零部件几何模型的设计,在ADAMS平台构建双臂立式吊具的虚拟样机仿真模型,针对不同的试验工况,对吊具功能的实现、铰接副受力和夹紧力等进行了较全面的动力学仿真试验分析,并进行了验证。在ABAQUS平台建立了吊具的拉杆、曲杆和内钳臂等主要受力件的有限元分析模型,基于吊具虚拟样机的系统分析结果,进行有限元结构应力分析,用第四强度理论验证各个杆件的强度状况。针对研究中发现的钳脚对钢卷的夹紧力过大等问题,建立吊具结构的优化模型,进行参数化分析,获得吊具重量、夹角、曲杆长度等变化的影响规律,为寻找吊具结构的最优解奠定了基础。
本文利用虚拟样机技术,对双臂立式吊具的理论分析、建模、仿真试验分析等进行了较全面的研究,提高了吊具系统的研发效率和使用性能,有助于提高大型专用吊具的设计开发水平。
Vertical tong mechanism is used to lift and transfer steel coil, which has been widely used in the practical production. However, Vertical tong mechanism has rare species and there lacks a highly perceptive analysis of the whole mechanism. This paper aims to using vertical coil tong as investigating subject to have a highly perceptive systemic theory study on the optimization and structure analysis of the two-armed vertical coil tong mechanism.
Considering the associativity and ambiguity of a great variety of influencing factors in the project assessment of the vertical tong mechanism, two-armed vertical coil tong mechanism is selected as investigating subject while three-level fuzzy comprehensive evaluation model as project assessment method to analyze its working principle and the connected relation of the member bars, construct reduced graph of unilateral principle and establish magnitude relation between the clamping force and system parameters. On the basis of establishing virtual simulation model using Pro/E and ADAMS, dynamic simulation analysis of the whole tong system under different situation has been done and at the same time the functionality, accuracy and mechanical property of the system has been analyzed and testified. According to the simulation result, based on stress analysis of the tie rod, curved rod and lead tong arm using finite element analysis software ABAQUS, stiffness of every member bar is testified on the basis of fourth strength theory. On the concerning of some problems in the process of establishing optimization model of the whole system, such as that maximum stresses of the tie rod and curved rod are far less than allowable stress and intensity of the lead tong arm can't be ensured as well as oversized clamping forces and so on, the length and included angle of the curved rod are selected as design variables, minimum mass of the tong mechanism as objective function, the clamping force between tong leg and coil as constraint condition and numerical values of the design variables are obtained from different segmentations using parametric analysis method. With the analysis result of obtaining values from different segmentations through combination of ADAMS test and numerical calculation, the change regularity has been concluded, which has provided theory foundation of construction optimization.
Compressive theoretical analysis and simulation analysis system of the two-armed vertical coil tong mechanism has been established through virtual prototyping technology. The study efficiency and practical usability of the tong system has been significantly improved on the basis of highly perceptive analysis of structure and performance of the vertical tong mechanism, which can be notably conducive to the wide application and development of the tong mechanisms.
引文
[1]邹慧君,汪利,王石刚等.机械产品概念设计及其方法综述.机械设计与研究,1998,(2)：9～12；
[2]王玉新,邰晓梅,姜杉.3维虚拟设计环境下的机械产品概念设计.中国机械工程,2001,12：(3),25～27；
[3]邓劲莲,李尚平,梁式.甘蔗收获机扶蔗机构的概念设计与创新设计.农业机械学报,2003,34：(6),58～61；
[4]朱春耕,徐洪,张可,卢章平.自动穿孔机构的概念设计.工程设计学报,2007,14：(4),338～341；
[5]赵勇,丁顺礼,齐元胜.机构方案概念设计的功能向量编码方法.计算机辅助设计与图形学学报,2007,19：(11),1454～1458；
[6]田孜强,孟宪静.立式夹钳的结构及设计.一重技术,1996,(70),53～54；
[7]傅钦桐.自动立式夹钳.冶金设备,1998,(107),44～46；
[8]丁慧,刘剑雄、赵成华.夹钳的结构优化.起重运输机械,2007,(1),15～17；
[9]许嘉,刘榴.起吊盘状物件的专用吊具—三爪吊.起重运输机械,1999,(7),10～13：
[10]邢少波,王宝珍,钟贤通.立式自动夹钳.中国,新型,89218624.1991-1-2.
[11]李丰宾,杨德成.自动开闭钢卷夹钳.中国,新型,B66C1/10(2006.01)IB66C 1/42(2006.01)I,2009-04-08
[12]黄邦彦.现代设计方法基础.北京：中国人民大学出版社,2001；
[13]罗中华,梅亚夫,郭燕伶.八连杆压力机执行机构部分尺寸参数的确定.湘潭大学自然科学学报,1998,20：(2),79～81；
[14]Yoon Young Kim, Gang-Won Jang, Jung Hun Park, Jin Sub Hyun, Sang Jun Nam. Automatic Synthesis of a Planar Linkage Mechanism With Revolute Joints by Using Spring-Connected Rigid Block Models. Transactions of the ASME, Vol.129,2007, 930～940;
[15]钱令希.工程结构优化设计.北京：水利电力出版社,1984；
[16]Hop field J J, Tank D W., Neural Computating of decision in optimization. Bol Cybern, 1985, (52),141～152.
[17]Bertoni A, Dorigo M. Implicit parallelism in genetic algorithms, Artificial intelligence, Vol.61(2),1993,207～314.
[18]Chen ShuXun, Ye shangHui. A Guide-Weight Criterion Method for The Optimal Design of Antenna structures. Engineering Optimization. Vol,1986, Vol.10(3).
[19]孙靖民.机械优化设计.北京：机械工业出版社,2003；
[20]张晓丽,杨建强,常春影,董威.多目标模糊优化方法及其在工程设计中应用.大连理工大学学报,2005,45：(3),374～378；
[21]薛渊,吕广明,陆念力.复合形法在液压挖掘机铲斗连杆机构优化设计中的应用.现代制造工程,2006,(3),114～116；
[22]朱延飞,王刚,姚养无.平面组合连杆机构的多目标优化设计及仿真.火炮发射与控制学报,2008,94～96；
[23]叶铁丽,李民,刘欣丽.液压支架四连杆机构优化设计及运动仿真.煤矿机械,2009,30：(5),37～39；
[24]王汝慧,李瑞琴.混合驱动六杆机构的轨迹特性及优化设计.机械设计与研究,2009,25：(2),40～51；
[25]陈立平,张云清,任卫群,覃刚.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；
[26]刘展ABAQUS6.6基础教程与实例详解.北京：中国水利水电出版社,2008；
[27]毕世英,刘伟达.自动闭合立式夹钳设计.机械与电子,2006,(5),20～23；
[28]何丽君,范勤.基于ADAMS的夹钳机构虚拟建模与仿真.电子机械工程,2007,23：(6),57～59；
[29]尹忠俊,项杨,韩天,李晋.自动立式夹钳的动力学分析.冶金设备,2008,170,53～55;
[30]尹忠俊,项杨,韩天,黄河,王骏飞.基于ADAMS和ANSYS的自动立式夹钳研究.起重运输机械,2009,(5),83～86；
[31]刘兰生编译.摩擦式夹钳夹紧力的简捷计算.Mechanical Design,1987,29:(170),22：
[32]黄河,张清东,尹忠俊等.立式钢卷起吊过程表面夹伤仿真分析.2007中国钢铁年会论文集；
[33]黄河,张清东,文杰.自动立式吊具外钳口内廓曲面形状优化设计.冶金设备,2008,10(5)；
[34]徐增丙,李友荣,王志刚.立式吊具右曲杆强度有限元分析.起重运输机械,2005(7)；
[35]徐增丙.自动立式吊具的动力学仿真及其结构优化[D].武汉：武汉科技大学,2005。
[36]张建明.机械产品概念设计的若干方法研究[D].大连：大连理工大学,2005；
[37]江铈广.可重构制造系统设计理论及其仿真研究[D].上海：华东理工大学,2010；
[38]汪利,邹慧君.机械运动方案的三级模糊综合评价.机械设计与研究,1998,1,9～11;
[39]邹慧君.机械运动方案设计手册.上海：上海交通大学出版社,1994；
[40]刘新宪,朱道立.选择与判断[M].上海：上海科学普及出版社,1990；
[41]郑建荣.ADAMS虚拟样机技术入门与提高.北京：机械工业出版社,2001；
[42]龙凯,程颖.齿轮啮合力仿真计算的参数选取研究.计算机仿真,2002,19(6)：87～88；
[43]张佳楫.含间隙机构运动副动力学[D].西安：西安电子科技大学,2006；
[44]刘鸿文主编.材料力学(第4版).北京：高等教育出版社,2004.1。
[2]王玉新,邰晓梅,姜杉.3维虚拟设计环境下的机械产品概念设计.中国机械工程,2001,12：(3),25～27；
[3]邓劲莲,李尚平,梁式.甘蔗收获机扶蔗机构的概念设计与创新设计.农业机械学报,2003,34：(6),58～61；
[4]朱春耕,徐洪,张可,卢章平.自动穿孔机构的概念设计.工程设计学报,2007,14：(4),338～341；
[5]赵勇,丁顺礼,齐元胜.机构方案概念设计的功能向量编码方法.计算机辅助设计与图形学学报,2007,19：(11),1454～1458；
[6]田孜强,孟宪静.立式夹钳的结构及设计.一重技术,1996,(70),53～54；
[7]傅钦桐.自动立式夹钳.冶金设备,1998,(107),44～46；
[8]丁慧,刘剑雄、赵成华.夹钳的结构优化.起重运输机械,2007,(1),15～17；
[9]许嘉,刘榴.起吊盘状物件的专用吊具—三爪吊.起重运输机械,1999,(7),10～13：
[10]邢少波,王宝珍,钟贤通.立式自动夹钳.中国,新型,89218624.1991-1-2.
[11]李丰宾,杨德成.自动开闭钢卷夹钳.中国,新型,B66C1/10(2006.01)IB66C 1/42(2006.01)I,2009-04-08
[12]黄邦彦.现代设计方法基础.北京：中国人民大学出版社,2001；
[13]罗中华,梅亚夫,郭燕伶.八连杆压力机执行机构部分尺寸参数的确定.湘潭大学自然科学学报,1998,20：(2),79～81；
[14]Yoon Young Kim, Gang-Won Jang, Jung Hun Park, Jin Sub Hyun, Sang Jun Nam. Automatic Synthesis of a Planar Linkage Mechanism With Revolute Joints by Using Spring-Connected Rigid Block Models. Transactions of the ASME, Vol.129,2007, 930～940;
[15]钱令希.工程结构优化设计.北京：水利电力出版社,1984；
[16]Hop field J J, Tank D W., Neural Computating of decision in optimization. Bol Cybern, 1985, (52),141～152.
[17]Bertoni A, Dorigo M. Implicit parallelism in genetic algorithms, Artificial intelligence, Vol.61(2),1993,207～314.
[18]Chen ShuXun, Ye shangHui. A Guide-Weight Criterion Method for The Optimal Design of Antenna structures. Engineering Optimization. Vol,1986, Vol.10(3).
[19]孙靖民.机械优化设计.北京：机械工业出版社,2003；
[20]张晓丽,杨建强,常春影,董威.多目标模糊优化方法及其在工程设计中应用.大连理工大学学报,2005,45：(3),374～378；
[21]薛渊,吕广明,陆念力.复合形法在液压挖掘机铲斗连杆机构优化设计中的应用.现代制造工程,2006,(3),114～116；
[22]朱延飞,王刚,姚养无.平面组合连杆机构的多目标优化设计及仿真.火炮发射与控制学报,2008,94～96；
[23]叶铁丽,李民,刘欣丽.液压支架四连杆机构优化设计及运动仿真.煤矿机械,2009,30：(5),37～39；
[24]王汝慧,李瑞琴.混合驱动六杆机构的轨迹特性及优化设计.机械设计与研究,2009,25：(2),40～51；
[25]陈立平,张云清,任卫群,覃刚.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；
[26]刘展ABAQUS6.6基础教程与实例详解.北京：中国水利水电出版社,2008；
[27]毕世英,刘伟达.自动闭合立式夹钳设计.机械与电子,2006,(5),20～23；
[28]何丽君,范勤.基于ADAMS的夹钳机构虚拟建模与仿真.电子机械工程,2007,23：(6),57～59；
[29]尹忠俊,项杨,韩天,李晋.自动立式夹钳的动力学分析.冶金设备,2008,170,53～55;
[30]尹忠俊,项杨,韩天,黄河,王骏飞.基于ADAMS和ANSYS的自动立式夹钳研究.起重运输机械,2009,(5),83～86；
[31]刘兰生编译.摩擦式夹钳夹紧力的简捷计算.Mechanical Design,1987,29:(170),22：
[32]黄河,张清东,尹忠俊等.立式钢卷起吊过程表面夹伤仿真分析.2007中国钢铁年会论文集；
[33]黄河,张清东,文杰.自动立式吊具外钳口内廓曲面形状优化设计.冶金设备,2008,10(5)；
[34]徐增丙,李友荣,王志刚.立式吊具右曲杆强度有限元分析.起重运输机械,2005(7)；
[35]徐增丙.自动立式吊具的动力学仿真及其结构优化[D].武汉：武汉科技大学,2005。
[36]张建明.机械产品概念设计的若干方法研究[D].大连：大连理工大学,2005；
[37]江铈广.可重构制造系统设计理论及其仿真研究[D].上海：华东理工大学,2010；
[38]汪利,邹慧君.机械运动方案的三级模糊综合评价.机械设计与研究,1998,1,9～11;
[39]邹慧君.机械运动方案设计手册.上海：上海交通大学出版社,1994；
[40]刘新宪,朱道立.选择与判断[M].上海：上海科学普及出版社,1990；
[41]郑建荣.ADAMS虚拟样机技术入门与提高.北京：机械工业出版社,2001；
[42]龙凯,程颖.齿轮啮合力仿真计算的参数选取研究.计算机仿真,2002,19(6)：87～88；
[43]张佳楫.含间隙机构运动副动力学[D].西安：西安电子科技大学,2006；
[44]刘鸿文主编.材料力学(第4版).北京：高等教育出版社,2004.1。