【作者】 王宁；

【导师】 李成求； 张延蕾；

【作者基本信息】 大连海事大学 ， 工程硕士（专业学位）， 2019， 硕士

【摘要】 目前在国内产品加工、装配及生产等车间,为降低成本并提高生产效率,广泛采用起重机、助力机械手等设备辅助搬运重物。现有辅助搬运设备重物提升方式简单、运输效率低、起升冲击大、安全性不足,无法适应高要求生产场所。针对以上现存问题,本文研制出由单片机控制的伺服软索起重装置,在重物提升搬运过程中可实现变速提升、软索起重搬运、重物重量实时显示、缓起动缓停止、超载报警立即停车功能,具有响应速度快特点,还可与机械臂组合辅助搬运重物。本文的主要工作如下:(1)整理国内外辅助搬运设备的研究现状,确定装置技术指标,拟定机械结构与控制系统不同设计方案,通过分析对比选择最优方案。(2)机械结构详细设计缠绕装置与控制手柄零部件,阐述工作原理;基于ADAMS对钢丝绳缠绕卷筒的运动过程进行动力学仿真分析,基于仿真结果,校核钢丝绳强度满足要求,并计算起升动载系数,确保装置运行满足起重机械安全运行要求;运用ANSYS Workbench对关键零部件进行有限元分析,分析结果表明零件力学特性满足使用要求;最后完成图纸绘制并外协加工样机。(3)控制系统详细设计硬件电路和软件编程,硬件电路设计包括伺服驱动器与伺服电机外围电路设计、传感器的选型及通信连接、单片机控制器设计、电源模块设计;软件编程是将输入单片机的数字量信号和经过AD转换后的数字量信号进行处理,并经过DA转换输出控制伺服电机动作;最后完成控制系统电路板焊接制作。(4)组装样机进行试验测试,分别对电源模块、单片机控制器、装置不同工作状态、实际钢丝绳拉力进行试验。结果表明,设备机械结构与控制系统设计合理,可达到制定技术指标,实用性强。本文研制的伺服软索起重装置样机运行可靠,操作方便,运输效率高,应用范围广,具有良好的实际应用价值,对提升搬运本领域的发展具有一定的推动意义。更多还原

【Abstract】 At present,in order to reduce costs and improve production efficiency,domestic workshops such as product processing,assembly and production widely use equipment such as crane and booster manipulator to assist in carrying heavy objects.The existing auxiliary handling equipment has simple heavy objects lifting mode,low transportation efficiency,large lifting impact and insufficient safety,which make it is impossible to adapt to high-demand production places.In view of the above existing problems,this paper developed a servo soft rope lifting device controlled by a single chip microcomputer,which can realize stepless speed regulation,soft rope lifting and carrying,real-time weight display,slow start and slow stop,overload alarm and immediate stop functions in the process of lifting and carrying heavy objects.It has the characteristics of fast response speed,and can be combined with a mechanical arm to assist in carrying light and small heavy objects.The main work of this paper is as follows:(1)Sort out the research status of auxiliary handling equipment at home and abroad,determine the technical indexes of the device,draw up the design scheme of mechanical structure and control system,and select the best through analysis and comparison.(2)The mechanical structure mainly designs parts of the winding device and parts of the control handle in detail,and expounds the working principle;based on ADAMS,the dynamic simulation analysis of the movement process of the wire rope winding drum is carried out;and based on the simulation results,the strength of the wire rope is checked to meet the requirements,and the lifting dynamic load coefficient is calculated to ensure that the operation of the device can meet the safe operation requirements of hoisting machinery;ANSYS Workbench is used to carry out finite element analysis on the main parts,whose analysis results show that the mechanical properties of the parts meet the use requirements;finally,finish drawing and external processing prototype.(3)The control system includes hardware circuit design and software programming.The hardware circuit design includes servo driver and servo motor peripheral circuit design,sensor selection and communication connection,MCU controller design,power supply module design.The purpose of software programming is to process the digital signal input to MCU and the digital signal converted by AD,and control the servo motor action through DA conversion output;finally,complete the welding of PCB.(4)Assemble a prototype for testing,and test the power supply module,the single chip microcomputer controller,the different working states of the device and the actual wire rope tension respectively.The results show that the mechanical structure design of the equipment and the control system design of the equipment are reasonable,the equipment operation can reach the technical index,and the practicality is strong.The servo soft cable lifting device prototype developed in this paper has reliable operation,convenient operation,high transportation efficiency,wide application range and good practical application value,which has certain promotion significance for promoting the development of this field.更多还原