改进型管道清灰机器人卸料机构优化设计及仿真分析  

Optimization design and simulation of discharge mechanism of modified in-pipe clearing robots

作　　者：张淑珍[1] 黄建龙[1] 郑玉巧[1] 

机构地区：[1]兰州理工大学数字制造技术与应用省部共建教育部重点实验室,甘肃兰州730050

出　　处：《矿山机械》2011年第1期114-118,共5页Mining & Processing Equipment

基　　金：甘肃省科技重大专项(0801GKDA052)

摘　　要：以管道清灰机器人卸料机构为研究对象,分析了卸料机构闭合时力学特性,以支撑杆受力最小为目标,建立了卸料机构优化模型。利用MatLab优化工具箱对优化函数进行优化计算,分析了影响优化结果的关键因素,并基于ANSYS以卸料板变形最小为目标对关键参数进行了优化设计,得出了卸料机构的最优化几何参数。对优化前后的卸料机构进行有限元仿真分析,验证了卸料机构具有较好的刚度,良好的传力性能,最大变形小于0.1 mm,等效应力小于许用应力,满足设计要求。The discharge mechanism of a modified in-pipe clearing robot serving as the study object,dynamics characteristics of the discharge mechanism while it closes are analyzed,and its optimization model is established.Optimization toolbox of Matlab is used to compute optimization functions,and key factors affecting the optimization results are analysed.In addition,the minimum deformation of the discharge plate serving as the object to optimize key parameters based on ANSYS,and the optimal geometrical parameters of the discharge mechanism are obtained.The discharge mechanism before and after optimization have been simulated and analyzed,and the analysis results show that optimized discharge mechanism has high stiffness,excellent force transmission performance,maximum deformation is less than 0.1mm,von Mises stress is less than allowable value,which satisfy the design requirements.

关 键 词：管道清灰机器人 卸料机构 优化设计 仿真分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]