CN102222137B - Fire-fighting robot arm double-coupling simulation method - Google Patents

Abstract

A dual-coupling simulation method for a fire-fighting robot arm, characterized in that it includes hydraulic circuit design, Pro/e rigid body modeling, ANSYS flexible body modeling, kinematics dynamics simulation, machine-hydraulic coupling simulation, rigid-flexible coupling simulation, and dual-coupling analysis ;Rigid-flexible coupling simulation is the ANSYS flexible body model of the big arm and the ANSYS flexible body model of the forearm respectively replace the rigid-body models of the large arm and forearm in the rigid body assembly, so as to obtain the rigid-flexible coupling model for rigid-flexible coupling simulation; Dual coupling analysis is a joint simulation of mechanical-hydraulic coupling simulation and rigid-flexible coupling simulation. The invention is mainly used for the dynamic simulation and test of the fire-fighting robot arm, which is convenient for grasping the change law of stress, strain and hydraulic system parameters as a whole, saving simulation time, improving simulation efficiency, and shortening the design cycle of the robot arm.

Description

A dual-coupling simulation method for fire-fighting robot arms

technical field

The invention relates to a mechanical-hydraulic system simulation method, in particular to a double-coupled dynamic simulation method of a fire-fighting robot arm.

Background technique

Fire-fighting robots are still new things in China, and there are few studies on them, and there are not many simulation analysis and optimization of their working devices. There are many, and there are few simulation studies on dynamics combined with finite elements; the kinematics and dynamics simulation studies of robot arms are usually carried out under the assumption of pure rigid body motion and ideal load, ignoring the deformation of flexible parts will make the results different from the actual It is quite far away; the interaction between the mechanical system and the hydraulic system is usually ignored, and the applied driving source is generally a STEP function that directly acts on the moving pair of the telescopic hydraulic cylinder or the rotating pair of the rotating motor, and the common value of the mechanical system and the hydraulic system cannot be obtained in real time. The relevant parameters of the mechanism under action. The CAD/CAE co-simulation technology is applied to the research of the robot arm, and the dual-coupled dynamic finite element simulation analysis method combined with a variety of software is explored, which provides certain guidance and reference for the formulation of similar working structure simulation methods.

Contents of the invention

The purpose of the present invention is to overcome the above-mentioned shortcomings of the original circuit components, complex structure, and not suitable for direct modeling and simulation, to provide a hydraulic circuit system of a fire-fighting robot arm, and to obtain a model of the interaction between the hydraulic circuit and the mechanical system, which is convenient simulation analysis.

A double-coupling simulation method for a fire-fighting robot arm. The fire-fighting robot arm includes a base, a large arm cylinder group, a long connecting rod, a short connecting rod, a triangular connecting rod, a small arm, a claw cylinder group, an upper hand, a lower hand, and a motor. components, forearm cylinder group, boom,

Dual coupling simulation methods include hydraulic circuit design, Pro/e rigid body modeling, ANSYS flexible body modeling, kinematics dynamics simulation, machine-hydraulic coupling simulation, rigid-flexible coupling simulation, dual coupling analysis,

The hydraulic circuit design is the hydraulic circuit design of the boom cylinder group, the claw cylinder group, and the small arm cylinder group,

The Pro/e rigid body modeling obtains the Pro of the boom cylinder group, long connecting rod, short connecting rod, triangle connecting rod, forearm, claw cylinder group, upper hand, lower hand, motor assembly, forearm cylinder group, and large arm /e rigid body model, also includes the assembly operation of the above rigid body model to obtain the rigid body assembly,

The ANSYS flexible body modeling obtains the ANSYS flexible body model of the big arm and the ANSYS flexible body model of the forearm,

The kinematics dynamics simulation is a kinematics simulation and a dynamics simulation of a rigid body assembly,

The mechanical-hydraulic coupling simulation is a joint simulation of the hydraulic circuit and the rigid body assembly obtained by the hydraulic circuit design,

The rigid-flexible coupling simulation is that the ANSYS flexible body model of the big arm and the ANSYS flexible body model of the forearm respectively replace the rigid body models of the large arm and the small arm in the rigid body assembly, thereby obtaining the rigid-flexible coupling model and performing the rigid-flexible coupling simulation ,

The dual-coupling analysis is a joint simulation of the mechanical-hydraulic coupling simulation and the rigid-flexible coupling simulation.

The kinematics simulation obtains limit position parameters and shapes. The dynamic analysis obtains the force of the hydraulic cylinder and the force of the hinge point. The rigid-flexible coupling simulation obtains the mechanical vibration when the working condition is changed. The vibration conditions of the oil cylinder and each hinge point are obtained through the mechanical-hydraulic coupling simulation. The double-coupling analysis obtains the stress and strain of the weak parts during the movement.

The hydraulic circuit design is based on the ADAMS/Hydraulics hydraulic module in the ADAMS simulation software; the Pro/e rigid body modeling is based on drawing sketches in the sketching environment in the Pro/e software and using basic characteristics to draw parts to obtain the main parts Pro/E three-dimensional drawing, and the process of assembly operation. The kinematics dynamics simulation is the rigid body kinematics analysis and rigid body inverse dynamics analysis of the fire fighting robot after adding constraints and driving, verifying the model, and adding the driving function; Modeling technology and ADAMS hydraulic simulation technology to establish a virtual model of the hydraulic system and analyze the dynamic and static characteristics of the hydraulic system. The rigid-flexible coupling simulation is a simulation process for performing simulation analysis on the established rigid-flexible coupling model and obtaining dynamic finite element results. The dual-coupling analysis is aimed at typical working conditions, based on joint simulation of rigid-flexible coupling and mechanical-hydraulic coupling.

Advantages of the present invention relative to the prior art:

1. This method is mainly used for the dynamic simulation and test of the fire-fighting robot arm, which is convenient for grasping the change rule of stress, strain and hydraulic system parameters as a whole, and facilitates the mechanical-hydraulic simulation of the mechanical arm, which saves simulation time, improves simulation efficiency, and shortens The design cycle of a robotic arm.

2. The present invention not only performs modal analysis, kinematics simulation, and static analysis on the whole machine, but also conducts simulation research on dynamics in combination with finite elements, which is more in line with the actual situation and easy to grasp as a whole.

3. The simulation research of the present invention is not only carried out under the assumption of pure rigid body motion and ideal load, but also considers the deformation of flexible components, so that the results are closer to the actual.

4. The present invention considers the interaction between the mechanical system and the hydraulic system. The applied driving source is not directly acting on the STEP function on the moving pair of the telescopic hydraulic cylinder or on the rotating pair of the rotating motor, but on the hydraulic components, and further controls The mechanical system can obtain the relevant parameters of the mechanism under the joint action of the mechanical system and the hydraulic system in real time.

5. The present invention attaches great importance to the basic role of kinematic dynamics analysis, and provides necessary data with subsequent dual-coupling simulation while checking the necessary limit working position of the mechanical arm, organically combined.

6. Obtain the limit position parameters and shape in the kinematics simulation part, and expand the operating range of the mechanism after improving according to the results.

7. The hydraulic cylinder force and hinge point force obtained in the dynamic analysis part provide basic data for the primary selection of machine-hydraulic coupling parameters and rigid-flexible coupling simulation.

8. In the rigid-flexible coupling simulation part, it is known that the mechanical vibration is serious when the working conditions are changed. According to the results, operating methods such as prolonging the working condition switching time and reducing the combined working conditions are adopted to reduce the vibration caused by the interaction between the inertial force and the driving force.

9. In the machine-hydraulic coupling simulation part, it is known that the vibration of the oil cylinder and each hinge point is obvious. According to the results, damping elements such as rubber gaskets and bushings are added to the hinge points to improve the reliability and service life of the parts.

10. In the dual coupling analysis, the stress and strain of the weak parts during the movement process were known, and after the overall grasp, the lightweight research was carried out on the upper arm and the forearm, which reduced the weight of the working device by about 10%.

Description of drawings

Fig. 1 is a structural diagram of a mechanical arm;

Fig. 2 is a schematic flow chart of the dual-coupling simulation method of the fire-fighting robot arm of the present invention.

Detailed ways

1-base; 2-big arm cylinder group; 3-long connecting rod; 4-short connecting rod; 5-triangular connecting rod; 6-small arm; 7-claw cylinder group; 10-motor group; 11-arm cylinder group; 12-big arm.

As shown in Figure 1, the dual-coupling simulation method of the fire-fighting robot arm of the present invention includes hydraulic circuit design, Pro/e rigid body modeling, ANSYS flexible body modeling, kinematics dynamics simulation, machine-hydraulic coupling simulation, rigid-flexible coupling simulation , double-coupling analysis, the hydraulic circuit design is the hydraulic circuit design of three groups of hydraulic cylinders of the mechanical arm, including the drawing of the hydraulic circuit diagram, the setting of the hydraulic components, and the rigid body model is the modeling and assembly of all rigid body parts. Imported into the virtual prototyping software ADAMS, it can form a rigid-flexible coupling model with the flexible body model, and import it into the virtual prototyping software ADAMS to form a mechanical-fluid coupling model with the hydraulic system model. The ANSYS flexible body is the big arm flexible body and the small The flexible body of the arm can be imported into the virtual prototype software ADAMS to form a rigid-flexible coupling model with the rigid body model. The kinematics and dynamics simulation is the simulation of the rigid body assembly after adding constraints, driving and verification. The mechanical-hydraulic coupling The simulation is the simulation of the hydraulic system and the rigid body assembly, the rigid-flexible coupling simulation is the simulation of the flexible body of the big arm, the flexible body of the forearm and other rigid body parts, and the dual coupling is a combination of mechanical-hydraulic coupling and rigid-flexible coupling. The above method is beneficial to the optimization of the hydraulic circuit, the lightweight of the whole machine, and the improvement of the operation scheme.

The present invention provides a dual-coupling simulation method for a fire-fighting robot arm. The rigid-flexible coupling model in the simulation method is connected through an equivalent BEAM beam unit, and the cobweb-like beam unit bundle composed of BEAM4 units can transmit force and moment to obtain accurate The force results can improve the accuracy of subsequent strength analysis.

Claims (1)

1. A fire-fighting robot arm double-coupling simulation method, described fire-fighting robot arm comprises base, big arm oil cylinder group, long connecting rod, short connecting rod, triangle connecting rod, forearm, hand claw oil cylinder group, upper hand, lower hand , motor assembly, small arm cylinder group, large arm, It is characterized in that the dual coupling simulation method includes hydraulic circuit design, Pro/e rigid body modeling, ANSYS flexible body modeling, kinematics dynamics simulation, machine-hydraulic coupling simulation, rigid-flexible coupling simulation, dual coupling analysis, The hydraulic circuit design is the hydraulic circuit design of the boom cylinder group, the claw cylinder group, and the forearm cylinder group, and the hydraulic circuit design is based on the ADAMS/Hydraulics hydraulic module in the ADAMS simulation software, The Pro/e rigid body modeling obtains the Pro of the boom cylinder group, long connecting rod, short connecting rod, triangle connecting rod, forearm, claw cylinder group, upper hand, lower hand, motor assembly, forearm cylinder group, and large arm The /e rigid body model also includes the assembly operation to the above rigid body model to obtain the rigid body assembly. The Pro/e rigid body modeling is based on drawing a sketch in the sketching environment in the Pro/e software and drawing parts using basic characteristics, to obtain Pro/E three-dimensional drawing of main parts, and the process of assembly operation, The ANSYS flexible body modeling obtains the ANSYS flexible body model of the big arm and the ANSYS flexible body model of the forearm, The kinematics dynamics simulation is a kinematics simulation and a dynamics simulation of a rigid body assembly, the kinematics simulation obtains limit position parameters and shapes, the dynamics analysis obtains the force of the hydraulic cylinder and the force of the hinge point, and The kinematics dynamics simulation is the rigid body kinematics analysis and rigid body inverse dynamics analysis of the fire robot after adding constraints and driving, verifying the model, and adding the driving function. The applied driving source does not directly act on the moving pair of the telescopic hydraulic cylinder. The STEP function on the rotating pair of the upper or rotating motor acts on the hydraulic components, and then further controls the mechanical system to obtain the relevant parameters of the mechanism under the joint action of the mechanical system and the hydraulic system in real time. The mechanical-hydraulic coupling simulation is a joint simulation of the hydraulic circuit and the rigid body assembly obtained by the hydraulic circuit design. The mechanical-hydraulic coupling simulation obtains the vibration conditions of the oil cylinder and each hinge point, and the mechanical-hydraulic coupling simulation uses Pro/e , ANSYS modeling technology and ADAMS hydraulic simulation technology, establish a virtual model of the hydraulic system, and analyze the dynamic and static characteristics of the hydraulic system, The rigid-flexible coupling simulation is that the ANSYS flexible body model of the big arm and the ANSYS flexible body model of the forearm respectively replace the rigid body models of the large arm and the small arm in the rigid body assembly, thereby obtaining the rigid-flexible coupling model and performing the rigid-flexible coupling simulation , the rigid-flexible coupling simulation obtains the mechanical vibration situation when the working condition is switched, and the rigid-flexible coupling simulation is a simulation process for the established rigid-flexible coupling model to perform simulation analysis and obtain dynamic finite element results, The dual-coupling analysis is a joint simulation of the mechanical-hydraulic coupling simulation and the rigid-flexible coupling simulation. The dual-coupling analysis obtains the stress and strain of the weak parts during the movement, and the dual-coupling analysis is aimed at typical working conditions, based on the rigid-flexible coupling Co-simulation with machine-hydraulic coupling.

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