液压驱动式3T1R重载搬运机械装置的设计研究

张晓洋; 李然; 王宸; 赵国华; 王生怀

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液压驱动式3T1R重载搬运机械装置的设计研究
张晓洋,李然,王宸,赵国华,王生怀
湖北汽车工业学院机械工程学院，湖北十堰 442002

摘要:

目的基于十字滑台原理，文中设计可以实现3T1R四自由度的重载搬运机械装置，达到对货物准确定位、牢固夹紧以及多自由度搬运的目的。方法利用解析法和有限元法对承重螺栓进行结构设计和强度分析，根据分析结果提出螺栓根部圆角滚压的结构改进方案;根据不同滚压圆角对应的应力值，采用Hermite(埃尔米特)方法得到滚压圆角半径–应力(r–σ)曲线和多项式，求导确定结构改进方案。结果根据滚压圆角半径–应力(r–σ)曲线，确定最佳滚压半径r=4 mm;以PLC控制技术为基础，设计了搬运机械液压驱动控制系统。装置搬运载荷达到55 kN，螺栓根部强度提高了59.54%，屈服极限安全系数达到2.4。结论通过结构设计，该装置实现了3T1R 4个自由度的运动及控制;通过结构改进达到了多自由度搬运的效果。

关键词: 3T1R 有限元法 Hermite方法结构改进液压驱动控制

DOI：10.19554/j.cnki.1001-3563.2022.13.022

分类号:TH131.3

基金项目:国家自然科学基金(51675167);湖北省教育厅科研项目(Q20201806);教育部人文社会科学基金项目(20YJCZH150)

Design of Hydraulically Driven 3T1R Heavy-duty Handling Mechanical Device

ZHANG Xiao-yang, LI Ran, WANG Chen, ZHAO Guo-hua, WANG Sheng-huai

(School of Mechanical Engineering, Hubei University of Automotive Technology, Hubei Shiyan 442002, China)

Abstract:

The work aims to design a heavy-duty handling mechanical device that can realize 3T1R four degrees of freedom based on cross slide principle, so as to achieve the purpose of accurate positioning, firm clamping and handling of goods through multiple degrees of freedom. The structural design and strength analysis was carried out to load-bearing bolt by analytical method and finite element method. According to analysis results, the structural improvement scheme of bolt root fillet rolling was proposed. According to the stress values corresponding to different rolling fillets, the radius-stress (r-σ) curve and polynomial of rolling fillets were obtained by Hermite method, and the structural improvement scheme was determined by derivation. Based on the radius-stress (r-σ) curve of rolling fillets, the optimal rolling radius was determined as r=4 mm. Based on PLC control technology, the hydraulically driven control system of handling mechanical device was designed. The device realized a handling load of 55 kN, the strength of bolt root increased by 59.54% and the yield limit safety factor was up to 2.4. Through structural design, the device realizes the 3T1R four degrees of freedom. Through the structural improvement, the effect of multi-degree-of-freedom handling is achieved.

Key words: 3T1R finite element method Hermite method structural improvement hydraulically driven control