| The rapid development of heavy engineering equipment is an important mark of China’s transition from low-end manufacturing to high-end manufacturing,which plays an important role in guaranteeing China’s national economic growth,social healthy development and national defense security.Since the end of the 20 th century,countries around the world have made more and more huge engineering equipment for various needs.A huge heavy engineering equipment is usually composed of many system component modules.However,due to the huge size and weight of the heavy equipment module and the high requirement for force and displacement control ability,there are problems in the docking and installation of the module,such as poor controllability and low assembly efficiency.At present,in the existing module pose adjustment and automatic docking system,the contact area between numerical controlled localizer and large parts is small,and the contact area presents a high contact stress,which is easy to cause deformation and damage of the large parts.The serious coupling of parallel mechanism platforms makes them difficult to control.Hybrid mechanism platforms have been widely used in various industrial fields due to their better comprehensive performance.Therefore,aiming at the pose adjustment and automatic docking of heavy equipment,a six degree of freedom(6-DOF)hybrid mechanism pose adjustment platform with compact structure and high load-bearing capacity was designed in this thesis,so as to improve the installation quality and speed of heavy equipment module and the level of automation of docking.First of all,according to the design index of pose adjustment of heavy equipment module and the performance characteristics of various types of mechanisms,a 6-DOF hybrid mechanism pose adjustment scheme was proposed in this thesis.This hybrid mechanism is composed of a 3-DOF spatial mechanism,a 2-DOF translational mechanism and a single-DOF rotary mechanism.The degree of freedom of the spatial mechanism was analyzed by using the screw theory.Secondly,the overall structure of the pose adjustment platform was designed according to the designed mechanism,and the selection and theoretical calculation of its key components were carried out.The static analysis of the designed spatial hinge,platform welding parts and vertical hydraulic cylinder support was carried out using the finite element analysis software ANSYS Workbench.The analysis results show that the components can meet the strength design requirements.Finally,according to the driving mode of the pose adjustment platform for the heavy equipment module,its hydraulic system was designed.The hydraulic system of the lower platform includes a self-locking hydraulic circuit and a balance hydraulic circuit.The hydraulic system of the middle platform includes a floating hydraulic circuit.The selection of hydraulic components such as hydraulic cylinders,pumps and valves was completed.The dynamic performance of the hydraulic system and the motion mechanism was analyzed using AMESim software.The analysis results show that the hydraulic cylinder of the designed hydraulic system runs smoothly and the feasibility of the platform was verified. |
