山地果茶园单轨运输机摆臂式装卸结构设计与优化

孙顺利; 汤维; 罗远强; 韩重阳; 王锴; 叶靖锋; 吴伟斌

doi:10.7671/j.issn.1001-411X.202403027

山地果茶园单轨运输机摆臂式装卸结构设计与优化

Design and optimization of swing arm loading and unloading structure of monorail conveyor for hilly orchard and tea garden

摘要

摘要:
目的针对现有的山地果茶园运输机械功能单一，传统的起重搬运装备难以适用、人工装卸劳动强度大的问题，本文优化设计一种单轨运输机摆臂式装卸结构以满足山地果茶园装卸需求。
方法根据山地果茶园电动单轨运输机的基本参数信息，设计摆臂式装卸方案，装卸装置最大装卸高度为700 mm、最大装卸质量为 200 kg；针对传统摆臂式装卸结构油缸载荷大和负载突变的问题，对传统的摆臂式装卸结构进行动力学与运动学分析，并通过 ADAMS 参数化建模和优化，设计了一种绳索−举升臂联动的装卸结构；此外，利用基于精英策略的快速非支配排序遗传算法(Non-dominated sorting genetic algorithms Ⅱ，NSGA-Ⅱ)进行结构尺寸的多目标优化；最后，进行绳索联动装卸结构的动力学仿真，试制样机并进行载重、摆动试验测试。
结果 ADAMS 参数化建模与优化，可以增大装卸范围、降低工作所需的油缸驱动拉力，使传统摆臂式装卸结构最大驱动力降低了 12.0%；优化后的绳索联动装卸结构理论最大驱动推力为 5 697 N、最大驱动拉力为 9 206 N，相比传统的摆臂式装卸结构理论最大驱动推力降低了 41.2%、最大驱动拉力降低 10.3%、最大驱动推力变化率降低 53.0%，避免了油缸负载突变区间，负载变化曲线更加平稳。仿真和样机试验结果表明，绳索联动装卸结构具有先进性和可行性。
结论本文对摆臂式装卸结构进行设计与优化，并提出了一种绳索联动装卸结构，能够满足单轨运输机装卸需求，并在丘陵山地果茶园生产实践中应用推广。

Abstract:
Objective To solve the problems of single function of existing transportation machinery for hilly orchard and tea garden, and traditional lifting and handling equipment being difficult to apply and mainly relying on high intensity manpower, a swing arm loading and unloading structure for monorail conveyor is designed and optimized to meet the needs of loading and unloading in hilly orchard and tea garden.
Method Based on the basic parameter of the electric monorail conveyor in hilly orchard and tea garden, a swing arm loading and unloading scheme was designed with the maximum loading and unloading height of 700 mm and the maximum loading and unloading mass of 200 kg. The motion and force of traditional swing arm loading and unloading structure were analysed and a rope lifting arm linkage loading and unloading structure was designed through parameterized modeling and optimization of ADAMS. Non-dominated sorting genetic algorithms Ⅱ(NSGA-II) was used for multi-objective optimization of the structural dimension. The dynamic simulation, prototype making and load and swing testing of rope linked loading and unloading structure were conducted.
Result The parameterized modelling and optimization of ADAMS increased the loading and unloading range and reduced the required hydraulic cylinder driving tension for work with. The maximum driving force decreased by 12.0% compared with the traditional swing arm loading and unloading structure. The theoretical maximum driving force was 569 7 N and the maximum pulling force was 9 206 N after multi-objective optimization. Compared with the traditional swing arm loading and unloading structure, the theoretical maximum driving force reduced by 41.2%, the maximum pulling force reduced by 10.3% and the change rate of maximum pulling force reduced by 53.0%, which could avoid the sudden change range of oil cylinder load and make the load change curve smoother. The results of simulation and prototype tests showed the progressiveness and feasibility of the rope linkage handling structure.
Conclusion The designed and optimized swing arm loading and unloading structure can meet the loading and unloading needs of monorail conveyor in hilly orchard and tea garden, and can be applied and promoted in production practice of hilly and mountainous areas.

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