立板机动臂翻转结构优化设计与研究

Optimum Design and Research of the Vertical Manipulator Arm Rotation Structure

针对现今装配式建筑预制墙板的安装问题,设计了一种新型墙板立板机,通过动臂翻转机构实现末端抓取装置俯仰位姿调节,进而实现预制墙板定位安装作业。其中,动臂翻转机构属于液动连杆机构,通过力学仿真分析发现,动臂起落机构属于主要承力机构,驱动油缸负载最大。为此,针对动臂起落机构建立尺度优化模型,以驱动油缸的最大负载最小为目标函数,基于复合形法优化算法求得动臂翻转机构最优尺度参数,优化后驱动油缸最大负载降低36%左右,驱动油缸性能显著提升;通过Creo软件建立虚拟样机,进行了刚体动力学仿真分析,验证了机构尺度优化模型的可行性;最后,进行样机研制及其施工试验,动臂翻转机构工作性能符合设计要求。

Aiming at the installation of prefabricated wall panels in today′s assembly building,a new type of wall panel vertical machine is designed,which realizes the adjustment of the pitch position and position of the end grabbing device through the arm turnover mechanism,thus realizing the positioning and installation of prefabricated wall panels.The boom turnover mechanism belongs to the hydraulic linkage mechanism.Through the mechanical simulation analysis,it is found that the boom landing mechanism belongs to the main bearing mechanism and the driving cylinder has the largest load.Therefore,a scale optimization model is established for the boom landing mechanism to minimize the maximum load of the driving cylinder as the objective function.Based on the complex method,the optimal scale parameters of the boom turnover mechanism are obtained,and the maximum load of the driving cylinder before and after optimization is reduced by about 36%.Drive cylinder performance is significantly improved.The virtual prototype is built by Creo software and the rigid body dynamics simulation analysis is carried out.The mechanism scale optimization model is validated.Finally,the prototype development and the construction test are carried out,and the working performance of the boom turnover mechanism meets the design requirements.