CN115270582A - Design method of vibration-damping protective sleeve for leveling ejector rod of measuring robot - Google Patents
Design method of vibration-damping protective sleeve for leveling ejector rod of measuring robot Download PDFInfo
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Abstract
The invention discloses a design method of a vibration-damping protective sleeve for a leveling ejector rod of a measuring robot. Firstly, constructing a three-dimensional model of a vibration-damping protection sleeve by using three-dimensional software; then carrying out parametric modeling on the vibration reduction protection sleeve by using Hypermesh software; then constructing a collision model of the two-stage energy absorption box and verifying the reliability of the collision model; then, an optimized mathematical model is constructed to determine specific parameters of the inner core of the two-stage energy absorption box; and finally verifying the strength of the vibration-damping protective sleeve. According to the method, the effect of vibration reduction and energy absorption is realized by designing two stages of energy absorption boxes. The damping protective sleeve designed by the method has the advantages of simple structure, low manufacturing cost and higher practical engineering application value. The size parameters in the vibration-damping protective sleeve are obtained through the optimization model, the parameter setting in the optimization model can be adjusted according to the actual use condition, and the matched size parameters are obtained. The method has wide application range and high optimized convergence speed.
Description
Technical Field
The invention relates to a leveling mechanism of a measuring robot, in particular to a method for designing a vibration-damping protective sleeve for a leveling ejector rod of the measuring robot.
Background
The leveling mechanism of the measuring robot mainly depends on the movement of three ejector rods to level, and the three leveling ejector rods are in contact with a leveling reference surface. Under the working condition of complex environment, the leveling ejector rod is often failed due to strong impact vibration, so that a damping protective sleeve needs to be designed for the leveling ejector rod.
In the design of the damping protective sleeve, a negative Poisson ratio structure with good damping and energy absorption performances is generally selected, when the negative Poisson ratio multi-cell structure is pressed, the internal structure is deformed, the whole structure can contract, the rigidity is increased, and a large amount of energy is converted into elastic energy and plastic energy of materials. The energy absorbing structure is widely applied to energy absorbing structure design due to the special mechanical characteristics of the energy absorbing structure. However, the complex negative poisson ratio structure usually needs 3D printing to be manufactured, but the negative poisson ratio multi-cell structure is seriously hindered from being popularized and applied in the field of practical engineering due to high manufacturing cost.
Disclosure of Invention
In view of the problems in the design of the damping protection sleeve, the invention provides a method for designing the damping protection sleeve for a leveling ejector rod of a measuring robot. The method realizes the effects of vibration reduction and energy absorption by designing two stages of energy absorption boxes.
Firstly, a three-dimensional model of a vibration-damping protective sleeve is constructed by using three-dimensional software; then, carrying out parametric modeling on the vibration reduction protection sleeve by using Hypermesh software; then constructing a collision model of the two-stage energy absorption box and verifying the reliability of the collision model; then an optimized mathematical model is constructed to determine specific parameters of the inner core of the two-stage energy absorption box; and finally verifying the strength of the vibration-damping protective sleeve.
The technical scheme adopted by the invention is as follows: a design method of a vibration-damping protective sleeve for a leveling ejector rod of a measuring robot comprises the following steps:
s1: and constructing a three-dimensional model of the vibration-damping protective sleeve according to the structural size of a leveling ejector rod in the leveling mechanism of the measuring robot.
S2: and carrying out parametric simulation modeling on the vibration-reducing protection sleeve by using Hypermesh software.
S3: determining the boundary conditions and the load loading mode of the vibration-reduction protective sleeve structure, constructing a vibration-reduction protective sleeve collision model, and performing simulation calculation to obtain a simulation collision calculation result.
S4: and verifying the reliability of the collision model of the vibration-reduction protective sleeve.
S5: and distributing energy absorption indexes of the primary energy absorption box and the secondary energy absorption box of the vibration-damping protective sleeve.
S6: constructing a structure optimization mathematical model of the primary energy absorption box and the secondary energy absorption box, constructing an optimization model by taking the thickness dimension of the inner core of the energy absorption box as a design variable, taking an energy absorption index as a constraint and taking the minimum quality as an optimization target, and outputting the thickness dimension of the inner core of the energy absorption box if the structure optimization mathematical model of the primary energy absorption box and the secondary energy absorption box can reach a converged optimal solution to obtain the structures of the primary energy absorption box and the secondary energy absorption box; and otherwise, the optimization parameters need to be modified until the optimization models of the primary energy absorption box and the secondary energy absorption box can reach the converged optimal solution.
S7: and carrying out statics analysis on the primary energy absorption box and the secondary energy absorption box to obtain a stress cloud chart of the primary energy absorption box and the secondary energy absorption box.
S8: judging whether the rigidity and the strength of the primary energy absorption box and the secondary energy absorption box meet set thresholds or not according to the maximum stress of the primary energy absorption box and the secondary energy absorption box under the static load displayed on a stress cloud picture, and outputting the structural sizes of the primary energy absorption box and the secondary energy absorption box if the rigidity and the strength of the primary energy absorption box and the secondary energy absorption box meet the set thresholds to complete the structural design of the primary energy absorption box and the secondary energy absorption box; otherwise, returning to the step S5, and redistributing the energy absorption indexes of the first-stage energy absorption box and the second-stage energy absorption box.
S9: and designing the structure of the vibration-damping protective sleeve according to the structural sizes of the primary energy-absorbing box and the secondary energy-absorbing box to obtain the vibration-damping protective sleeve meeting the design requirement.
The damping protective sleeve provided by the invention can absorb energy and damp by two stages of energy absorption boxes. When the leveling ejector rod is subjected to a large impact load, the inner core structure of the first-stage energy absorption box fails first, and the inner core structure of the second-stage energy absorption box fails later, so that energy generated by impact is absorbed. The vibration-damping protection sleeve can effectively absorb and measure impact vibration load applied to the robot in the working process.
The beneficial effects produced by the invention are as follows: the vibration reduction protection sleeve designed by the method has the advantages of simple structure, low manufacturing cost and higher practical engineering application value. The size parameters in the vibration reduction protective sleeve are obtained through the optimization model, the parameter setting in the optimization model can be adjusted according to the actual use condition, and the matched size parameters are obtained. The method has wide application range and high optimized convergence speed.
Drawings
FIG. 1 is an exploded view of a vibration reducing protective sleeve according to an embodiment of the present invention;
FIG. 2 is an enlarged top view of the primary crash box of FIG. 1;
FIG. 3 is an enlarged side view of the secondary crash box of FIG. 1;
FIG. 4 is a flow chart of a design method of an embodiment of the present invention;
FIG. 5 is a finite element model of a primary energy absorption box in an embodiment of the present invention;
FIG. 6 is a finite element model of a secondary energy absorption box in an embodiment of the present invention;
FIG. 7 is a schematic view of a first-stage crash box statics analysis boundary condition loading mode in an embodiment of the present invention;
FIG. 8 is a schematic view of a boundary condition loading manner for statics analysis of a secondary energy absorption box in an embodiment of the present invention.
Detailed Description
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
as shown in fig. 1, the damping protection ejector rod sleeve comprises a primary energy absorption box 1, a primary energy absorption box cover 2, a secondary energy absorption box 3 and a sleeve 4; the first-stage energy absorption box 1 is fixed to the top of the second-stage energy absorption box 3 through screws, the first-stage energy absorption box cover 2 is fixed to the first-stage energy absorption box 1 through screws, the side face of the second-stage energy absorption box 3 is fixed to the sleeve 4 through four screws, and the side face of the bottom end of the sleeve 4 is fixed to the leveling ejector rod 5 through screws.
The parts in the damping protective sleeve are rigidly connected by M6 screws.
As shown in figure 2, the inner core of the primary energy absorption box 1 of the damping protective sleeve is designed into a regularly distributed concave hexagon. As shown in FIG. 3, the inner core of the secondary crash box 3 is formed in a regular hexagon shape. The primary energy absorption box cover 2 at the top end of the primary energy absorption box 1 is in contact with a leveling reference surface of a leveling mechanism of the measuring robot, and the worm gear drives the leveling ejector rod 5 to move in a stretching mode, so that leveling is achieved.
As shown in fig. 4, a method for designing a damping protection sleeve for a leveling mandril of a measuring robot comprises the following steps:
s1: and constructing a three-dimensional model of the vibration-damping protective sleeve according to the structural size of the leveling ejector rod in the leveling mechanism of the measuring robot. And the modeling process of the vibration reduction protective sleeve is completed on a UG platform.
S2: and carrying out parametric simulation modeling on the vibration reduction protection sleeve by using Hypermesh software. In the process of carrying out parametric simulation modeling on the vibration-damping protective sleeve, a PSHELL unit in Hypermesh software is adopted for modeling, and the thickness sizes of the inner cores of the primary energy-absorbing box and the secondary energy-absorbing box of the vibration-damping protective sleeve are parameterized.
S3: determining the boundary conditions and the load loading mode of the vibration-damping protective sleeve structure, constructing a vibration-damping protective sleeve collision model, and performing simulation calculation to obtain a simulation collision calculation result. The boundary conditions of the damping protective sleeve structure are as follows: fixing six degrees of freedom of the bottom surfaces of the first-stage energy absorption box and the second-stage energy absorption box; the load loading mode is as follows: the rigid wall moves closer to the crash box at a speed of 4160 m/s.
S4: and verifying the reliability of the collision model of the vibration-damping protective sleeve. The reliability criterion for verifying the collision model of the vibration-damping protective sleeve comprises the following steps: if the ratio of the hourglass energy parameter in the simulation collision calculation result of the vibration-reduction protective sleeve to the total energy generated by collision is less than 5%, the constructed vibration-reduction protective sleeve collision model is reliable; if the ratio of the hourglass energy parameter in the simulation collision calculation result of the vibration-damping protective sleeve to the total energy generated by collision is greater than or equal to 5%, it is indicated that the collision simulation calculation result is wrong, and the collision model of the vibration-damping protective sleeve needs to be modified.
S5: and distributing energy absorption indexes of the primary energy absorption box and the secondary energy absorption box of the damping protective sleeve. The energy absorption index distribution principle of the primary energy absorption box and the secondary energy absorption box of the damping protective sleeve is as follows: the total energy absorption of the first-stage energy absorption box is 1/2 times that of the second-stage energy absorption box; the total energy absorption value of the first-stage energy absorption box and the second-stage energy absorption box is expressed as the integral of the impact force and the deformation of the energy absorption block in the collision process, and the expression is as follows:
in the formula (I), the compound is shown in the specification,E TOTAL the total energy absorption of the first-stage energy absorption box and the second-stage energy absorption box is as follows: KJ; F(S)is a function of the impact force and the deformation of the energy absorption block; t is the duration of the collision process, in units: and s.
S6: constructing a primary energy absorption box and a secondary energy absorption box structure optimization mathematical model, constructing the optimization model by taking the thickness dimension of the inner core of the energy absorption box as a design variable, taking the energy absorption index as a constraint and taking the minimum quality as an optimization target, and outputting the thickness dimension of the inner core of the energy absorption box if the primary energy absorption box and the secondary energy absorption box structure optimization mathematical model can both reach a converged optimal solution to obtain the primary energy absorption box and the secondary energy absorption box structure; and otherwise, the optimization parameters need to be modified until the optimization models of the primary energy absorption box and the secondary energy absorption box can reach the converged optimal solution.
The structure optimization mathematical model of the first-level energy absorption box is as follows:
in the formula (I), the compound is shown in the specification,E TOTAL1 is the total energy absorption of the first-level energy absorption box, the unit is as follows: KJ;E obj1 is the target absorption energy value of the first-level energy absorption box, and the unit is as follows: KJ;t 1 the thickness of the inner core of the first-level energy absorption box is in unit: mm; {t 10 ，t 11 ，t 12 ，t 13 ，t 14 ，t 15 ，……t 1n The unit is the value range of the thickness dimension of the inner core of the primary energy absorption box: mm;M 1 the mass and unit of the first-level energy absorption box are as follows: kg;M 1 D the lower limit of the mass of the first-level energy absorption box is as follows: kg;M 1 U the upper limit of the mass of the first-level energy absorption box is as follows: kg; ρ is the material density, unit: k is a radical ofg/m 3 。
In the optimization process, the total energy absorption of the primary energy absorption box of each iteration stepE TOTAL1 Completing the calculation in Lsdyna; quality of primary energy absorption box of each iteration stepM 1 And completing the calculation in an Optistruct solver.
The structure optimization mathematical model of the secondary energy absorption box is as follows:
in the formula (I), the compound is shown in the specification,E TOTAL2 is the total energy absorption of the secondary energy absorption box, unit: KJ;E obj2 is the target absorption value of the secondary energy absorption box, and the unit is as follows: KJ;t 2 the thickness of the inner core of the secondary energy absorption box is in unit: mm; {t 20 ，t 21 ，t 22 ，t 23 ，t 24 ，t 25 ，……t 2n The thickness of the inner core of the secondary energy absorption box is in a value range of the thickness dimension, unit: mm;M 2 the mass of the secondary energy absorption box is as follows: kg;M 2 D the lower limit of the mass of the secondary energy absorption box is as follows: kg;M 2 U the upper limit of the mass of the secondary energy absorption box is as follows: kg; ρ is the material density, unit: kg/m 3 。
In the optimization process, the total energy absorption of the secondary energy absorption boxes of each iteration stepE TOTAL2 Completing the calculation in Lsdyna; mass of secondary energy absorption box for each iteration stepM 2 And completing the calculation in an Optistruct solver.
If the structure optimization mathematical models of the first-stage energy absorption box and the second-stage energy absorption box do not converge, the relative convergence condition needs to be relaxed, and the tolerance of the relative variation of the target function between two adjacent iteration steps is increased.
S7: and performing statics analysis on the first-stage energy absorption box and the second-stage energy absorption box to obtain a stress cloud chart of the first-stage energy absorption box and the second-stage energy absorption box.
The boundary conditions for performing statics analysis on the primary energy absorption box and the secondary energy absorption box are as follows: fixing the bottom surfaces of the first-stage energy absorption box and the second-stage energy absorption box with six degrees of freedom; the top surface load of the first-stage energy absorption box and the second-stage energy absorption box is obtained through the following calculation formula:
in the formula (I), the compound is shown in the specification,Min order to measure the total weight of the robot leveling mechanism, the unit is as follows: kg;gis the acceleration of gravity and has a value of 9.8 m/s 2 ；SThe area of the top surfaces of the first-level energy absorption box and the second-level energy absorption box is as follows: m is 2 ；NLeveling ejector rods for a leveling mechanism of the measuring robot;Pthe pressure intensity, unit, needed to be exerted on the top surfaces of the first-level energy absorption box and the second-level energy absorption box is as follows: MPa.
S8: judging whether the rigidity and the strength of the primary energy absorption box and the secondary energy absorption box meet set thresholds or not according to the maximum stress of the primary energy absorption box and the secondary energy absorption box under the static load displayed on a stress cloud chart, and outputting the structural sizes of the primary energy absorption box and the secondary energy absorption box if the rigidity and the strength are less than or equal to the set thresholds so as to complete the structural design of the primary energy absorption box and the secondary energy absorption box; otherwise, returning to the step S5, and redistributing the energy absorption indexes of the primary energy absorption box and the secondary energy absorption box.
The judgment rule of the strength of the first-stage energy absorption box and the second-stage energy absorption box is as follows:
in the formula, σ max The maximum stress of the first-stage energy absorption box and the second-stage energy absorption box under static load is expressed by the unit: MPa; [ sigma ] -based on blood pressurenTo set threshold, unit: MPa; [ sigma ] is the yield limit of the materials of the first-level energy absorption box and the second-level energy absorption box, and the unit is as follows: MPa;nthe safety factor is set.
If the maximum stress of the first-stage energy absorption box and the second-stage energy absorption box under the static load meets the judgment method, the structural strength of the first-stage energy absorption box and the structural strength of the second-stage energy absorption box meet the use requirement; and otherwise, the structural strength of the first-stage energy absorption box and the second-stage energy absorption box does not meet the use requirement.
S9: and designing a damping protection sleeve structure according to the structural sizes of the primary energy absorption box and the secondary energy absorption box to obtain the damping protection sleeve according with the design requirement. The size of the leveling ejector rod should be fully considered in the structural design of the damping protection sleeve. And determining the length and the inner diameter of the vibration-damping protective sleeve according to the length and the diameter of the flat-top adjusting rod.
Example (b): in the embodiment, the leveling mechanism for the mine measuring robot is used for leveling through three leveling ejector rods, the diameter of each leveling ejector rod is 30 mm, the length of each leveling ejector rod is 40 mm, and the leveling ejector rods are made of high-strength steel. The total weight of the robot was measured to be 180 kg. The first-stage energy absorption box is made of aluminum alloy, and the length, width and height of the first-stage energy absorption box are 32 mm multiplied by 32 mm; the secondary energy absorption box is made of aluminum alloy, the diameter of the secondary energy absorption box is 45 mm, and the thickness of the secondary energy absorption box is 20 mm. The density of the aluminum alloy material is 2.7 multiplied by 10 3 kg/m 3 The yield limit was 55.2 MPa.
The finite element model of the primary energy absorber box is shown in FIG. 5. A finite element model of the primary energy absorption box is modeled by adopting a PSHELL unit, the unit type is a quadrilateral unit, and the total number of the units is 1960.
A finite element model of a secondary crash box is shown in FIG. 6. And modeling a finite element model of the secondary energy absorption box by adopting a PSHELL unit, wherein the unit type is a quadrilateral unit, and the total number of the units is 956.
The boundary conditions of the damping protective sleeve collision model are as follows: and 6 degrees of freedom for fixing the bottom surface of the energy absorption box. The load loading condition is as follows: the rigid wall moves closer to the crash box at a speed of 4160 m/s.
According to the actual use environment of the measuring robot, the energy absorption indexes of the two stages of energy absorption boxes are distributed as follows: the total energy absorption amount of the first-stage energy absorption box is 400 KJ, and the total energy absorption amount of the second-stage energy absorption box is 800 KJ. The parameters in the structure optimization mathematical model of the first-level energy absorption box are selected as follows: {t 10 ，t 11 ，t 12 ，t 13 ，t 14 ，t 15 ，……t 1n ｝=｛0.5,0.6,0.7,0.8,0.9,1，1.1,1.2,1.3,1.4,1.5,1.6,1.7,1.8,1.9，2｝；M 1 D =50 g；M 1 U =200 g；E obj1 =400 KJ。
The parameters in the structure optimization mathematical model of the secondary energy absorption box are as follows: {t 20 ，t 21 ，t 22 ，t 23 ，t 24 ，t 25 ，……t 2n ｝=｛0.5,0.6,0.7,0.8,0.9,1，1.1,1.2,1.3,1.4,1.5,1.6,1.7,1.8,1.9,2｝；M 2 D =50 g；M 2 U =200 g；E obj2 =800 KJ。
After the two-stage energy absorption box is optimized, the thickness of the inner core of the first-stage energy absorption box is 0.8 mm; the thickness of the inner core of the secondary energy absorption box is 1.2 mm.
The load applied to the top surface of the primary energy absorption box is as follows:
the boundary condition for checking the strength of the primary energy absorption box is as follows: the bottom surface of the primary crash box is fixed for 6 degrees of freedom, and a pressure of 0.57 MPa is applied to the top surface (as shown in FIG. 7).
The load applied to the top surface of the secondary energy absorption box is as follows:
the boundary conditions of the strength of the secondary energy absorption box are as follows: the bottom surface of the secondary energy absorption box is fixed for 6 degrees of freedom, and the top surface of the secondary energy absorption box is applied with 0.1 MPa pressure (shown in figure 8).
After determining the top surface applied load and boundary conditions of the primary energy absorption box and the secondary energy absorption box, carrying out simulation calculation on the primary energy absorption box and the secondary energy absorption box to obtain a stress cloud chart, and acquiring the maximum stress values of the primary energy absorption box and the secondary energy absorption box under static load from the stress cloud chart for strength judgment.
The first-stage energy absorption box static analysis result is as follows: the maximum stress of the primary energy absorption box under static load is 7.607 MPa, namely sigma max =7.607 MPa. According to the strength judgment rule of the energy absorption box, the yield limit [ sigma ] of the material of the embodiment takes 55.2 MPa, and the safety coefficientnTaking 2, a decision threshold of [ sigma ] -may be obtainedn(55.2/2) =27.6 MPa, and the strength judgment rule is substituted to obtain
The maximum stress of the primary energy absorption box under the static load can meet the strength requirement through calculation.
The static analysis result of the secondary energy absorption box is as follows: the maximum stress of the secondary energy absorption box under static load is 4.44 MPa, namely sigma max =4.44 MPa. According to the strength judgment rule of the energy absorption box, the yield limit [ sigma ] of the material of the embodiment takes 55.2 MPa, and the safety coefficientnTaking 2, a decision threshold of [ sigma ] -may be obtainedn=55.2/2=27.6 MPa, and the strength is determined by substituting the strength determination rule
The maximum stress of the secondary energy absorption box under the static load can meet the strength requirement through calculation.
According to the size of the leveling ejector rod, the inner diameter of the damping protection sleeve is 30 mm, and the inner depth is 40 mm.
Claims (10)
1. A design method of a vibration-damping protective sleeve for a leveling ejector rod of a measuring robot is characterized by comprising the following steps:
s1: constructing a three-dimensional model of the vibration-damping protective sleeve according to the structural size of a leveling ejector rod in a measuring robot leveling mechanism;
s2: carrying out parametric simulation modeling on the vibration-reducing protection sleeve by using Hypermesh software;
s3: determining the boundary condition and the load loading mode of the vibration-reduction protective sleeve structure, constructing a vibration-reduction protective sleeve collision model, and performing simulation calculation to obtain a simulation collision calculation result;
s4: verifying the reliability of the damping protective sleeve collision model;
s5: distributing energy absorption indexes of the primary energy absorption box and the secondary energy absorption box of the vibration-damping protective sleeve;
s6: constructing a structure optimization mathematical model of the primary energy absorption box and the secondary energy absorption box, constructing an optimization model by taking the thickness dimension of the inner core of the energy absorption box as a design variable, taking an energy absorption index as a constraint and taking the minimum quality as an optimization target, and outputting the thickness dimension of the inner core of the energy absorption box if the structure optimization mathematical model of the primary energy absorption box and the secondary energy absorption box can reach a converged optimal solution to obtain the structures of the primary energy absorption box and the secondary energy absorption box; otherwise, the optimization parameters need to be modified until the optimization models of the primary energy absorption box and the secondary energy absorption box can both obtain the converged optimal solution;
s7: performing statics analysis on the primary energy absorption box and the secondary energy absorption box to obtain a stress cloud chart of the primary energy absorption box and the secondary energy absorption box;
s8: judging whether the rigidity and the strength of the primary energy absorption box and the secondary energy absorption box meet set thresholds or not according to the maximum stress of the primary energy absorption box and the secondary energy absorption box under the static load displayed on a stress cloud chart, and outputting the structural sizes of the primary energy absorption box and the secondary energy absorption box if the rigidity and the strength of the primary energy absorption box and the secondary energy absorption box meet the set thresholds so as to complete the structural design of the primary energy absorption box and the secondary energy absorption box; otherwise, returning to the step S5, and redistributing the energy absorption indexes of the first-stage energy absorption box and the second-stage energy absorption box;
s9: and designing the structure of the damping protection sleeve according to the structural sizes of the primary energy absorption box and the secondary energy absorption box to obtain the damping protection sleeve meeting the design requirement.
2. The design method of the damping protection sleeve for the leveling ejector rod of the measuring robot according to claim 1, wherein the damping protection sleeve comprises a primary energy absorption box, a primary energy absorption box cover, a secondary energy absorption box and a sleeve; the first-stage energy absorption box is fixed to the top of the second-stage energy absorption box, the first-stage energy absorption box cover is fixed to the first-stage energy absorption box, the side face of the second-stage energy absorption box is fixed to the sleeve, and the side face of the bottom end of the sleeve is fixed to the leveling ejector rod.
3. The design method of the damping and protecting sleeve for the leveling ejector rod of the measuring robot according to claim 2, wherein the inner core of the primary energy absorption box of the damping and protecting sleeve is designed into regularly distributed concave hexagons, and the inner core of the secondary energy absorption box is designed into regular hexagons.
4. The method for designing the vibration-damping protective sleeve for the measuring robot leveling ejector rod according to the claim 1, wherein in the step S2, in the process of carrying out parametric simulation modeling on the vibration-damping protective sleeve, a PSHELL unit in Hypermesh software is adopted for modeling, and the thickness of inner cores of a primary energy absorption box and a secondary energy absorption box of the vibration-damping protective sleeve are parameterized.
5. The method for designing the vibration reduction protection sleeve for the leveling ejector rod of the measuring robot according to claim 1, wherein in step S3, the boundary conditions of the structure of the vibration reduction protection sleeve are as follows: fixing six degrees of freedom of the bottom surfaces of the first-stage energy absorption box and the second-stage energy absorption box; the load loading mode is as follows: the rigid wall moves closer to the crash box at a speed of 4160 m/s.
6. The design method of the damping protective sleeve for measuring the leveling mandril of the robot according to claim 1, wherein in step S4, the verification of the reliability criterion of the collision model of the damping protective sleeve comprises the following steps: if the ratio of the hourglass energy parameter in the simulation collision calculation result of the vibration-reduction protective sleeve to the total energy generated by collision is less than 5%, the constructed vibration-reduction protective sleeve collision model is reliable; if the ratio of the hourglass energy parameter in the simulation collision calculation result of the vibration-reduction protective sleeve to the total energy generated by collision is greater than or equal to 5%, the result of the collision simulation calculation is wrong, and the collision model of the vibration-reduction protective sleeve needs to be modified.
7. The design method of the damping protective sleeve for the measuring robot leveling ejector rod according to the claim 1, characterized in that in step S5, the energy absorption index distribution principle of the primary energy absorption box and the secondary energy absorption box of the damping protective sleeve is as follows: the total energy absorption of the first-stage energy absorption box is 1/2 times of that of the second-stage energy absorption box; the numerical value of the total energy absorption of the primary energy absorption box and the secondary energy absorption box is expressed as the integral of the impact force and the deformation of the energy absorption block in the collision process, and the expression is as follows:
in the formula (I), the compound is shown in the specification,E TOTAL the total energy absorption of the first-stage energy absorption box and the second-stage energy absorption box is as follows: KJ; F(S)is a function of the impact force and the deformation of the energy absorption block; t is the duration of the collision process, in units: and s.
8. The design method of the vibration-damping protective sleeve for the measuring robot leveling ejector rod according to the claim 1, characterized in that in the step S6, the structure optimization mathematical model of the primary energy-absorbing box is as follows:
in the formula (I), the compound is shown in the specification,E TOTAL1 is the total energy absorption of the first-level energy absorption box, the unit is as follows: KJ;E obj1 is the target absorption value of the first-level energy absorption box, the unit is: KJ;t 1 the thickness of the inner core of the first-level energy absorption box is in unit: mm; {t 10 ，t 11 ，t 12 ，t 13 ，t 14 ，t 15 ，……t 1n The unit is the value range of the thickness dimension of the inner core of the primary energy absorption box: mm;M 1 the mass of the first-level energy absorption box is as follows: kg;M 1 D the lower limit of the mass of the first-level energy absorption box is as follows: kg;M 1 U the upper limit of the mass of the first-level energy absorption box is as follows: kg; ρ is the material density, unit: kg/m 3 ；
The structure optimization mathematical model of the secondary energy absorption box is as follows:
in the formula (I), the compound is shown in the specification,E TOTAL2 the total energy absorption of the secondary energy absorption box is as follows: KJ;E obj2 is the target absorption value of the secondary energy absorption box, the unit is: KJ;t 2 the thickness of the inner core of the secondary energy absorption box is in unit: mm; {t 20 ，t 21 ，t 22 ，t 23 ，t 24 ，t 25 ，……t 2n The thickness of the inner core of the secondary energy absorption box is in a value range of the thickness dimension, unit: mm;M 2 the mass of the secondary energy absorption box is as follows: kg;M 2 D the lower limit of the mass of the secondary energy absorption box is as follows: kg;M 2 U is the upper limit of the mass of the secondary energy absorption box, unit: kg; ρ is the material density, unit: kg/m 3 ；
If the structure optimization mathematical models of the primary energy absorption box and the secondary energy absorption box do not converge, the relative convergence condition needs to be relaxed, and the tolerance of the relative variation of the target function between two adjacent iteration steps is increased.
9. The method for designing the vibration-damping protective sleeve for the measuring robot leveling ejector rod according to claim 1, wherein in step S7, the boundary conditions for performing statics analysis on the primary energy-absorbing box and the secondary energy-absorbing box are as follows: fixing the bottom surfaces of the first-stage energy absorption box and the second-stage energy absorption box with six degrees of freedom; the top surface load of the first-stage energy absorption box and the second-stage energy absorption box is obtained by the following calculation formula:
in the formula (I), the compound is shown in the specification,Min order to measure the total weight of the robot leveling mechanism, the unit is as follows: kg;gis the acceleration of gravity and has a value of 9.8 m/s 2 ；SThe area of the top surfaces of the first-level energy absorption box and the second-level energy absorption box is as follows: m is 2 ；NLeveling ejector rods for a leveling mechanism of the measuring robot;Pthe pressure intensity required to be applied to the top surfaces of the first-stage energy absorption box and the second-stage energy absorption box is given by the following unit: MPa.
10. The design method of the damping protective sleeve for measuring the leveling ejector rod of the robot according to claim 1, wherein in step S8, the judgment rule of the strength of the primary energy absorption box and the strength of the secondary energy absorption box are as follows:
in the formula, σ max The maximum stress of the first-stage energy absorption box and the second-stage energy absorption box under static load is expressed by the unit: MPa; [ sigma ] -based on blood pressurenTo set threshold, unit: MPa; [ sigma ] is the yield limit of the materials of the first-level energy absorption box and the second-level energy absorption box, and the unit is as follows: MPa;nthe safety factor is set;
if the maximum stress of the primary energy absorption box and the secondary energy absorption box under the static load meets the judgment method, the structural strength of the primary energy absorption box and the secondary energy absorption box meets the use requirement; and otherwise, the structural strength of the first-stage energy absorption box and the second-stage energy absorption box does not meet the use requirement.
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| CN117010258B (en) * | 2023-10-07 | 2024-02-27 | 中国船舶集团有限公司第七〇七研究所 | Design method for leveling mechanism rigid-elastic integrated leveling ejector rod |
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