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以管道清灰机器人卸料机构为研究对象,分析了卸料机构闭合时力学特性,以支撑杆受力最小为目标,建立了卸料机构优化模型。利用MatLab优化工具箱对优化函数进行优化计算,分析了影响优化结果的关键因素,并基于ANSYS以卸料板变形最小为目标对关键参数进行了优化设计,得出了卸料机构的最优化几何参数。对优化前后的卸料机构进行有限元仿真分析,验证了卸料机构具有较好的刚度,良好的传力性能,最大变形小于0.1 mm,等效应力小于许用应力,满足设计要求。
Taking the unloading mechanism of pipeline cleaning robot as the research object, the mechanical characteristics of the unloading mechanism at closing are analyzed, and the optimization model of unloading mechanism is established with the aim of minimizing the force of the supporting rod. The optimization function was optimized and calculated by using MatLab optimization toolbox. The key factors affecting the optimization result were analyzed. Based on ANSYS, the key parameters were optimized with the aim of minimizing the deformation of the unloading board. The optimal geometry of the unloading mechanism parameter. The finite element simulation analysis of the unloading mechanism before and after optimization shows that the unloading mechanism has good rigidity and good transmission performance. The maximum deformation is less than 0.1 mm and the equivalent stress is less than the allowable stress to meet the design requirements.