Optimum Design and Research of the Vertical Manipulator Arm Rotation Structure

Sima Mingyang; Zhang Lin; Wang Baoping; Jiang Mingyang; Liu Hongbin

doi:10.16578/j.issn.1004.2539.2023.06.022

您当前的位置：

首页 >

文章列表页 >

Optimum Design and Research of the Vertical Manipulator Arm Rotation Structure

Development·Application | 更新时间：2023-08-14

- Optimum Design and Research of the Vertical Manipulator Arm Rotation Structure
- Journal of Mechanical Transmission Vol. 47, Issue 6, Pages: 153-159(2023)
- 作者机构：
  
  1.山东交通学院工程机械学院，山东济南 250357
  2.山东天意机械股份有限公司，山东济宁 272100
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2023.06.022
  CLC：
- Published：15 June 2023，
  
  Received：10 December 2022，
  
  Revised：29 December 2022，
扫描看全文
司马明洋,张林,王保平等.立板机动臂翻转结构优化设计与研究[J].机械传动,2023,47(06):153-159.

Sima Mingyang,Zhang Lin,Wang Baoping,et al.Optimum Design and Research of the Vertical Manipulator Arm Rotation Structure[J].Journal of Mechanical Transmission,2023,47(06):153-159.
司马明洋,张林,王保平等.立板机动臂翻转结构优化设计与研究[J].机械传动,2023,47(06):153-159. DOI： 10.16578/j.issn.1004.2539.2023.06.022.

Sima Mingyang,Zhang Lin,Wang Baoping,et al.Optimum Design and Research of the Vertical Manipulator Arm Rotation Structure[J].Journal of Mechanical Transmission,2023,47(06):153-159. DOI： 10.16578/j.issn.1004.2539.2023.06.022.

摘要

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。

Abstract

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.

关键词

装配式建筑立板机仿真分析尺度优化复合形法

Keywords

Assembly buildingVertical plate machineSimulation analysisScale optimizationComplex method

references

王江营，陈浩，刘国庆，等.装配式建筑技术在绿色建造中的综合应用［J］.施工技术（中英文），2022，51（16）：73-77.

WANG Jiangying，CHEN Hao，LIU Guoqing，et al.Comprehensive application of prefabricated building technology in green construction［J］.Construction Technology，2022，51（16）：73-77.

赵彦革，孙倩，魏婷婷，等.装配式建筑绿色建造评价体系研究［J］.建筑科学，2022，38（7）：134-140.

ZHAO Yan'ge，SUN Qian，WEI Tingting，et al.Study on green construction evaluation system of prefabricated buildings［J］.Building Science，2022，38（7）：134-140.

翟超.绿色建筑背景下装配式建筑技术的应用分析［J］.陶瓷，2022（7）：158-160.

ZHAI Chao.Application analysis of assembled building technology in green building background［J］.Ceramics，2022（7）：158-160.

程晓珂.国内外装配式建筑发展［J］.中国建设信息化，2021（20）：28-33.

CHENG Xiaoke.Development of assembled architecture at home and abroad［J］.Informatization of China Construction，2021（20）：28-33.

季超.装配式结构预制墙板安装施工技术探究［J］.江西建材，2022（4）：233-235.

JI Chao.Discussion on installation and construction technology of prefabricated wallboard with assembled structure［J］.Jiangxi Building Materials，2022（4）：233-235.

陈贺.装配式混凝土建筑结构施工技术要点分析［J］.低温建筑技术，2022，44（4）：151-154.

CHEN He.Key points of the construction technology of prefabricated concrete building structures［J］.Low Temperature Architecture Technology，2022，44（4）：151-154.

陈翀，李星，邱志强，等.建筑施工机器人研究进展［J］.建筑科学与工程学报，2022，39（4）：58-70.

CHEN Chong，LI Xing，QIU Zhiqiang，et al.Research progress of construction robots［J］.Journal of Architecture and Civil Engineering，2022，39（4）：58-70.

耿立明.建筑机器人在现代建筑施工中的应用实践［J］.建筑结构，2022，52（19）：159.

GENG Liming.Application practice of construction robot in modern building construction［J］.Building Structure，2022，52（19）：159.

姜中天，杨保平，杨朝辉，等.轻质墙板辅助安装机械研究与开发［J］.城市住宅，2015（4）：27-30.

JIANG Zhongtian，YANG Baoping，YANG Zhaohui，et al.Research and development of aided installing mechanical for light weight wallboard［J］.City & House，2015（4）：27-30.

李纬华，孙洪颖.下肢康复机器人人机运动分析及仿真研究［J］.机电工程技术，2016，45（8）：24-27.

LI Weihua，SUN Hongying.Kinematic analysis and simulation of lower limbs rehabilitation robot［J］.Mechanical & Electrical Engineering Technology，2016，45（8）：24-27.

陶闱，陆佳平，王婧月.M型袋口折边复原机构设计与运动学分析［J］.包装与食品机械，2022，40（5）：107-112.

TAO Wei，LU Jiaping，WANG Jingyue.Kinematics analysis and design of M-shaped bag mouth folding restoring mechanism［J］.Packaging and Food Machinery，2022，40（5）：107-112.

汤宇，邓援超，辛军炜.包装送纸机构运动学及动力学仿真分析［J］.包装工程，2022，43（13）：238-246.

TANG Yu，DENG Yuanchao，XIN Junwei.Kinematics and dynamics simulation analysis of packaging paper feeding mechanism［J］.Packaging Engineering，2022，43（13）：238-246.

万一品，宋绪丁，陈乐乐，等.装载机工作装置动态载荷测试方法与试验研究［J］.北京工业大学学报，2017，43（6）：840-845.

WAN Yipin，SONG Xuding，CHEN Lele，et al.Dynamic load test method and experiment of loader working device［J］.Journal of Beijing University of Technology，2017，43（6）：840-845.

张林，李俊明，吴承格，等.可控装载机构动力学分析与优化设计［J］.机械传动，2018，42（2）：52-56.

ZHANG Lin，LI Junming，WU Chengge，et al.Dynamics analysis and optimal design of the controllable loading mechanism［J］.Journal of Mechanical Transmission，2018，42（2）：52-56.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Research on Optimization Design of Automobile EPS Helical Gear Worm Transmission

Mechanism Design and Kinematics Analysis of a 6-DOF Manipulator

Design and Simulation of a Multi Degrees of Freedom Adjustable Exoskeleton for Lower Limb Rehabilitation

Wheel and Shoe Composite Stair Climbing Wheelchairs and Dynamic Analysis of Wheel Shoe Switching

Tooth Profile Modification and Experimental Study of Double Circular Arc Flexsplines in Harmonic Reducers

Related Author

Wang Yibo

Wang Yun

Pan Mingzhang

Wang Shuo

Li Jing

Liang Ke

Wei Xiao

Bi Wenlong

Related Institution

Intelligent Manufacturing Institute, Taizhou University

School of Aircraft Engineering, Nanchang Hangkong University

School of Mechanical Engineering, Guangxi University

School of Mechanical Engineering, Shandong University of Technology

School of Mechanical and Electrical Engineering, Jiangxi University of Science and Technology

⁰