玻璃钢管道缠绕芯模自动存取机的设计与研究

Design and research of automatic access machine for FRP pipe winding mandrel

根据当前缠绕成型生产线自动化程度不高等情况,研发和设计了一套自动存取设备,以提高芯模的存取效率,从而大大提高芯模的生产效率。文中对玻璃钢管道缠绕芯模自动存取机结构进行设计,采取垂直旋转式立体仓库作为芯模存储形式、多支撑点稳定支撑、垂直循环传动、单链轮导轨式传动结构、直角坐标式搬运机械手装卸芯模方案、液压升降同步控制回路等技术措施,既提高了在纤维管道制作过程中芯模的自动存取效率,又降低了芯模在运输过程中的危险性。利用SolidWorks完成三维建模,阐述各部件功能实现原理,完成了搬运机械手的结构和芯模自动存取搬运系统的设计。根据搬运方案对搬运机械手X、Y、Z轴分别进行结构设计和建模,对Z轴液压同步控制回路进行设计。运用Ansys Workbench对搬运机械手的X轴支撑架进行了力学特性分析,并采用基于响应面的多目标遗传算法对X轴支撑架进行优化分析,提高了结构的可靠性和稳定性。

In view of the low level of automation in the current winding and forming production line,we have developed and designed a set of automatic access equipment to improve the access ef ficiency of the mandrel,thus greatly improving the production ef ficiency of the mandrel.In this paper,we designed the structure of the FRP pipe winding mandrel automatic access machine,and adopted the vertical rotary high-rise warehouse as the mandrel storage form,multi-support point,stable-support,vertical circulation transmission,single sprocket guide rail transmission structure,rectangular coordinate handling manipulator loading and unloading mandrel scheme,hydraulic lifting synchronous control loop and other technical measures,which not only improve the automatic access ef ficiency of the mandrel in the fiber pipe manufacturing process,but also reduce the danger of the mandrel during transportation.We used SolidWorks to complete the three-dimensional modeling,explained the functional principle of each component,and completed the structure of the handling manipulator and the design of the mandrel automatic access handling system.According to the conveying scheme,the X,Y and Z axes of the conveying manipulator were designed and modeled respectively,and the Z axis hydraulic synchronous control circuit was designed.We used Ansys Workbench to analyze the mechanical characteristics of the X-axis support frame of the handling manipulator,and adopted multi-objective genetic algorithm based on response surface to optimize the analysis of the X-axis support frame,leaving a better reliability and stability of the structure.