Tối ưu kích thước của một số chi tiết trên robot kiểm tra mối hàn bằng công nghệ cad cae

Tren ca sd cdc kich thudc thiet ke cua mpl so chi tiet da cd sdn vd tinh trgng ldm viec cua ROBOT.. Cac phuang phap thiit ke chi liit may nay nhin chung phai trai qua cac budc co bin nhu

T 6 I VXJ K I C H T H i r d C C U A M O T S O C H I T I E T

T R E N R O B O T K I E M T R A M O I H A N

B A N G C O N G N G H E C A D - C A E

BUI VAN HlTNG

Khoa Cakhi Tru&ng Dgi hgc Giao thong Vgn tdi

Tom tat: Bdi bdo ndy trinh bdy mdt phuang phdp de tdi iru hda kich thu&c ihiel ke cua

mpt sd chi Hit trin ROBOT kiem tra mot hdn tu dpng dua tren phuang phdp phdn luhitu hgn Tren ca sd cdc kich thudc thiet ke cua mpl so chi tiet da cd sdn vd tinh trgng ldm viec cua ROBOT Bdi bdo img dung md dun phdn tich ung sudl de ldi uu hoa kich ihu&c thiet ke dugc tich hgp tren cdc phdn mem CAD - CAE hien nay Kit qud nghien cuu dua ra phuang phdp linh todn thiet ki mdi gidm thiiu ih&i gian tinh todn vd mang lgi hieu qud cUng nhu dp chinh xdc cao

Summary: The article depicts a method to optimize the design dimensions of some

elements of automatic welding inspection robot using the finite element method Based on the size of several elements available and the working state of the robot, the Stress Analysis Module has been applied lo optimize the dimensions already integrated in CAD - CAM at present The results proposes a new designing approach to reduce calculating time and achieve higher efficiency and more accuracy as well

I D A T V A N D E

Trong ITnh vuc thiit ki may hien nay van dang tdn tai cac phuong phap thiet ki khac nhau, cac phuong phap da dugc nghien ciiu, iing dung va phat trien tir nhieu nam trudc Cac phuang phap thiit ke chi liit may nay nhin chung phai trai qua cac budc co bin nhu sau Irong qua Irinh tinh loan thiet ke: lap so dd linh loan trong dd kit cau dugc don gian hda, cac luc l^p trung hoac phan bd theo mdt quy luat nao dd; xac dinh luc tac dung len chi tiet may; chgn v|it lieu thich hgp vdi dieu kien lam viec cua may - kha nang gia cdng va xet den tinh kinh te; tinh loan kich thudc theo chi tieu ve kha nang lam viec Tuy nhien qua tiiidi tinh toan n^y don gian va ddi hdi sii dung kien thiic ca sd nen tang rit nhiiu song nd chi dimg lai d viec tinh loan sa bd vdi sa do dugc dan gian hda, cac nhan td tai tigng va iing suat chua dugc danh gia

chinh xac De thiet kS tdi uu dugc chi liit yeu cku qua trinh che tao va hieu chinh thiet ke

thdng qua danh gia kiem nghiem

Vdi yeu cliu do chinh xac va tdi uu thiit ki de dem lai hieu qua kinh te cao ddi hdi can phai

ap dung nhiing phuang phap thiit ki mdi da dugc ung dung phd biin tiong ITnh vuc thiit ke ke

CO khi tren the gidi Dac biet, vdi su phat ttien cdng nghe CAD/CAE cac budc thiet ke theo phuang phap truyen thdng hoan toan cd the dugc md hinh hda, phan tich va tdi im thiet ke ngay tren cac phan mem tinh toan thiit ke ca khi hien nay

Nham dua ra cai nhin khai quat ve mdt cdng nghe thiet ke mdi, bai bao trinh bay phuang phap tdi uu mdt sd kich thudc khi thiit ke chi tiit tien Robot Idem tra mdi han theo muc tieu giam khdi lugng va dat he sd an loan cho phep bing phuang phap iing dung md dun phan lich

ling suat dugc tich hgp tren cac phan mim CAD - CAE hien nay - cu thi la sir dung tren phan

mem Inventor 2014

IL NOI DUNG

2.1 Gidi thieu ve Robot kiem tra moi han bang phuong phap sieu am su dung dau dd sieu

am PHASED ARRAY va TOFD

Robot kiem tra mdi han dua theo nguySn tSc sieu Sm, tien Robot dugc gSn cac dau dd sieu

am PHASED ARRAY va TOFD cd chiic nang phat hien ra cac khuyet tat tien dudng ban va truyin dii lieu ve bg xii ly tin hieu D i thuc hien nhiem vu than Robot dugc gan 04 true mang

04 banh ma sat la cac banh nam cham tu tinh, cd nhiem vu dam bao su chuyen ddng ciia Robot dgc theo dudng han

D i minh chiing cho phuang phap tdi uu hda thiit ki bang phuang phap CAD - CAE, bai bao trinh bay kil qua ldi uu kich thudc thiet ke cua chi tiit true mang banh tii nhu tren hinh 1 theo muc tieu giam khdi lugng va dat he sd an loan cho phep

Cietr^m^^^^

Hinh 1 Md hinh Robot kiim tra moi hdn hdng phirong phdp sieu

2.2 Ngi dung phuang phap t6i uu thiet ke tren ph4n mim CAD/CAE

Cac budc thuc hiSn de tdi uu hda thiet ki dugc trinh bay nhu so dd sau - hmh 2:

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chi tilt c ^ t& uu tren {dim

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Tdi uu vjit l i ^ d u tiit ti£n phfa mftn CAE

LQS ebon m^t lov v ^ l i ^ Uiic cd thi ttujr ttii dtl9c

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- K i t h i i n i « l i ( D t h a y l b e ibdag qua ket qtia bt s6 an toto

Hinh 2, Quy trinh thiet ke tdi uu chi tiet irng dgng cdng ngh? CAD/CAE

Budc 1: Chi tiet dugc md hinh hda tren phan mem Inventor thdng qua viec lira chgn sa bp ket cSu va cac kich thudc ban dau dua tien yeu cau ky thuat de ra va dac diem lam viec cua chi tiit

Budc 2; Vdi cac gia tri tai tigng tac dung len chi tiet va dieu kien lam vi?c cy the, chi tiet dugc tinh loan tren md dun Power Transmission tien Inventor, ket qua cho phep danh gia cac kich thudc da lua chgn tiong budc 1

Budc 3: Vdi ket qua thiet ke sa bd, lya chgn myc tieu de tdi uu hda sau dd chgn cac kich

thudc diin hinh cd thi tdi uu cua chi tiit Budc tiip theo su dung md dun Stiess Analysis tiong Inventor va de tinh loan kit qua ung suat, bien dang va he sd an loan iing vdi mdi kich thudc dugc chgn xung quanh kich thudc ban dau So sanh vdi muc tiSu tdi uu de ket luan kich thudc nhd nhat nhung van dam bao dugc do ben va dieu kien lam viec

Budc 4: Tdi uu hda vat lieu chi tiet, cd thi chgn mdt loai vat Ii?u khac de so sanh cac kil qua tinh loan: iing suat, biin dang, he sd an loan di kit luan vdt lieu phu hgp vdi myc tieu tdi uu

Budc 5: K.et luan kich thudc tdi uu va vat lieu lya chgn cho chi tiet

112.3 Ket qua nghien cihi

Phac thao kit can true va dat cac gia tri tai trgng tac dimg len true, sir dung mo dun tinh loan thiet ke thdng ihudng di xac dinh dugc kich thudc sa bd cua true nhu tien hinh 3

fFlEt^B &^f;^B[>[^

lER

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Trong dd:

- F„y = 480,6 N, F,2y = 355,4 N, F,u = 244,8 N (ISn

higtliillic cSng dai theo cac phuang)

- F „ = 162.5 N ( F „ lh Ipc ma skt tac dyng ISn tiuc)

- F ^ = 413 N (Lyc do h M i tu xAc dinh Ifin tiyc)

- Fyi = 240,32 N, Fy2= - 339,78 N ( F ^i vd F^; la kp lgc

6 iSn t ^ d^i^ ISn tryc dieo phirong y)

- F^i = 452,3 N, F ^ = - 442,1 N ( F ^ i i - ^ U a p I y c i l9n tac dyng ISn tryc dieo phuong x)

- Md men xofin tac dyng ISn tryc Tx =22500,34 N.aun

Hinh 3

Ket qua tinh loan thu dugc kich thudc chi tiet true nhu hinh 4 vdi bang cac thdng sd kich thudc chi liet Vdi cac kich thudc nay, khdi lugng ciia true lam bang vat lieu thep INOX 304 la 1,67 kg va h? sd an loan lam viec nhd nhat cua tryc la n = 5,93

Hinh 4 Kich thudc thiet ke sa bd ban ddu

Tap chi KHOA HQC GIAO THONG VAN TAI So dac biet -11/2015 169

Nham muc tieu giam dugc khdi luong xudng cdn < 1,2 kg va he sd an loan nhd nhit n = 3, lua chgn mgl sd kich thudc kha thi cho viec xac dinh l^i cac thdng sd tren Do dac diim cau tao

va chiic nang lam viec cua chi tiet, cac kich thudc chieu dai dugc giii nguyen, lua chgn tdi uu cac kich thudc dudng kinh cua true 0 3 0 (kich thudc dudng kinh d lan) va 0 5 0 (kich thudc tryc

dd banh ma sat), Tien hanh phan tich Iren phan mim CAE xung quang cac gia tri lan cSn ciia kich tiiudc 030 (R = 15mm) la 7.5; 10; 12.5 va kich thudc 0 5 0 (R = 25 mm) la 15; 18; 20; 25 (linh theo gia tri ban kinh) Neu cac gia tii lua chgn cang nhiiu (khoang phan tan kich thudc cang nhd) thi cang cd thi tim dugc gia tri kich thudc gin vdi kich thudc tdi uu Ket qua kiim nghiem dugc the hien true tiep Iren phan mem, iing vdi mdi gia tri lan cgn cua hai kich thudc

0 3 0 va 050 se cho ket qua cda he sd an loan va khdi lugng chi tiet nhu hinh 5 Mau xanh thi hien kich thudc lua chon phii hgp vdi dieu kien dat ra, ngugc lai mau dd khdng thda man dieu kien dat ra

T£B tlum iS t& BU GU trf kit qui pbin tich

y^O«lonCon«fr«ints ^ ^r ^

d, (mm)

7.5

12.5

15

do(mm)

15

15

15

15

He s£ an toan 57«4 4,00263 4,69921 5,83692

Kh£i lir^mt (kc) 1.4484 1.5044 3 > 1,57652

1,66498

Hinh 5 Bdng kit qud phdn tich dng vdi cdc gid tri ldn can dugc chon

Tu kit qua phan tich, cd the thay iing vdi kich thudc do = 15mm khi thay ddi cic gia tri cua kich thudc di thi bat dau tu kich thudc d, = 10mm cho kit qua phan tich cd he sd an loan

n = 4,00263 thda man yeu ciu nhung khdi lugng chi tiit liic nay m = 1,5044 kg khdng thda man yeu cau

D i thda man yeu cau vi khdi lugng tiin hanh thay ddi vat lieu khac la hgp kim nhdm 6061, hinh 6 thi hien ket qua tinh toan ddi vdi vgt lieu thay thi la hgp kim nhdm 6061 Kit qua cho thay do = 15mm va di = 10mm tuong iing vdi cac gia tri he sd an toan n = 3,2677 va m =

170 Tap chi KHOA HOC GIAO THONG VAN TAI So dac biet - 11 / 2 0 1 5

0,48543 kg thda man ca hai muc tieu dat ra Nhu vay, kich thudc 030mm cd the diiu chinh thanh 020mm; kich thudc 05(hnm cd thi dieu chinh thanh 030mm va vat lieu dugc sii dung che tao chi tiit la hgp kim nhdm 6061 dam bao dieu kien lam viec cua chi tiet

Dcfion Consfriints

1 'Constant Nam

Uj»4n Safety PKInr

1 IMIK

ConsfrailtTvpc

Lower hrtt

U n e r M t

UMt

3 1.2

Safety Factor

1

1

Resiit Value

• 2.2M7S 90.473S8S

UHt

li

kg Parwictert

ConoonentNane

true

> true

FeaWeNime

AevolkitMnl

Rsvskittanl

1 Parameter Nane

t l "

u

Values 7.5,10,12.5,15 15,18,30,25

f

J

Q m n t value 7.5

IS

unit

am

ttm

d,(iiiiii)

7.5

an_

12.5

15

d^nm)

15

15

IS

He » an toan

2,20975 3J«77 3.S369 3.947«

KlloillT^g(kt) 0,47358

0.48443 _ = 0,S006S

0,S1»36

Hinh 6 Bdng kit qud phdn tich khi thay the bdng vdl lieu hgp kim nhom 6061

III K £ T LUAN

Phuang phap Ihiel ki iing dung cdng nghe CAD/CAE cho phep ngudi thiet ki cd the dl dang kiim tia va danh gia kha nang lam viec cua chi tiit ma khdng clin sii dung cac bien phap chi thu hoac chay thu de kiem nghiem Ben canh dd, vdi viec su dung phuang phap nay cd the thay ddi kit cdu chi tiit mdt each linh hoat va xac dinh dugc cac chi tieu dat dugc cua chi tiet ngay tiong giai doan thiit ki mang lai hieu qua kinh li cao han cac phuang phap truyen thdng

Ng^y nhan bai lan dau: 24/9/2015

Ng^y nhan bai sua: 4/10/2015

Ng^y chap nhan dang bai: 1/10/2015

Tki lieu tham khao

[1 ] Nguyin Hihi Lgc - Chi tiit may - Tap 1 +2 - DHBK TP H6 Chi Minh

[2] Ninh Dire Ton, Le Van Tiin Nguyin Ddc Ldc Trdn Xudn Viet (1999) - S6 tay Cong Nghe Chi Tao

May Tip I, II, HI- Nha xuat ban khoa hoc v^ ky thu^t

[3], Finite Element Analysis (FEA) with Autodesk® hiventoi® -httpy/help.autodeskcom/view/INVNTOR/2014*

Phan bl^n: Nguyen Van CiroTig, Nguyen HSng Sou