Design And Analysis Of Working Device Of Assembler Based On Virtual Prototype

Single tunnel and double track tunnel is the main tunnel structure used in the construction of underground transportation at present.After the shield machine passes through the tunnel,the tunnel needs to be separated into two lanes by installing the middle partition wall.In order to improve the efficiency and precision of installing the middle partition wall in the construction of single tunnel and double line tunnel,a kind of middle partition wall assembly machine should be designed for the installation of the middle partition wall.In this paper,based on the kinematic chain topology map database,a 12-bar 3-DOF working device configuration is selected,and the kinematics,statics and dynamics of the virtual prototype of the assembly machine are studied respectively.It is very important to test manufacture and evaluate the performance of the physical prototype of the working device.The guiding significance.The main contents of the study are as follows:(1)According to the design requirements and working principle of the assembly machine,based on the related theory of graph theory and the topological embryo drawing insertion point method,the configuration of the working mechanism is studied synthetically,and the best configuration scheme of the assembly machine is obtained.(2)According to the schematic diagram of the working mechanism,the mechanical structure of the working device of the assembly machine is designed to ensure that the assembly machine meets the requirements of movement and work in the actual engineering.(3)Based on the D-H method,the kinematics model of the working device of the assembly machine is established,and the inverse kinematics model is solved by using the robot toolbox of the Matlab software.The force analysis of the working mechanism of the assembly machine is carried out by the analytic method and the static equilibrium equation,and the theory of the key hinge points of the components in the working device under the maximum loading condition is obtained.The force value provides a theoretical basis for the next step of simulation analysis.(4)The 3D geometry model of the working device of the assembly machine is constructed by using Pro/E software,and it is introduced into the virtual prototype analysis software Adams.The kinematics and dynamics simulation analysis of the working device is carried out.The stress load and dangerous working condition of each hinge point of the working device are obtained,the correctness of the theoretical model is verified,and the accurate force data are provided for the next statics analysis.(5)By using the finite element software ANSYS,the static analysis of the working device of the assembly machine under two dangerous working conditions is carried out,and the general structure of the working device and the distribution of the stress and strain of the important parts under the two working conditions are obtained.At the same time,the dangerous parts of each important part under each working condition are analyzed.According to the analysis results,the topology of the arm is optimized,the lifting performance is improved,and the material cost is saved.Through modal analysis of the arm,it is found that the vibration of the engine does not cause resonance of the arm.