通过对转子轴向移动式无级变矩永磁缓速器工作原理的研究,提出一种鼓式双转子永磁缓速器结构设计方案.根据设计目标以及车辆制动法规要求,基于永磁制动理论,采用MATLAB辅助设计确定了双转子永磁缓速器关键结构参数.通过ANSYS EM三维电磁场瞬态仿真模块,建立有限元仿真模型,对缓速器输出的制动力矩输出进行仿真分析,验证其在不同工作模式下的制动力矩,研究双转子完全工作状态下转子的转速与输出制动力矩的关系、输出制动力矩的调节特征.研究表明:所设计的永磁缓速器的制动力矩输出满足车辆的要求,其输出的制动力矩具有无极线性调节特性,还有性能提升空间.

该文以曲柄滑块往复机构为研究对象,考虑运动副间隙因素,运用虚拟样机技术设计了往复机构动力学特性分析虚拟仿真教学实验.该实验项目构建了几何模型虚拟装配、动力学建模和实验数据结果分析模块,开展了运动副间隙、驱动转速和负载等多变量仿真实验,实验结果清晰展示了运动副间隙作用机理及其动力学响应规律.

针对深度强化学习算法在复杂动态环境中训练时,由于环境的部分可观测性原因导致智能体难以获得有用信息而不能学习到良好策略且算法收敛速度慢等典型问题,提出一种基于LSTM和非对称actor-critic网络的改进DDPG算法.该算法在actor-critic网络结构中引入LSTM结构,通过记忆推理来学习部分可观测马尔可夫状态中的隐藏状态,同时在actor网络只使用RGB图像作为部分可观测输入的情况下,critic网络利用仿真环境的完全状态进行训练构成非对称网络,加快了训练收敛速度.通过在ROS中进行机械臂抓取仿真实验,结果显示该算法相比于DDPG、PPO和LSTM-DDPG算法获得了更高的成功率,同时具有较快的收敛速度.

为提高永磁吸附式管外壁爬行机器人运行过程中的吸附力稳定性,解决吸附能力与运动灵活性之间的矛盾,对变磁力吸附单元结构进行了研究.通过建立变磁力吸附单元有限元模型,并分析圆柱磁体的旋转角度和衔铁气隙距离对磁吸附力的影响,应用MATLAB软件拟合出磁力控制函数的数学模型.运用此数学模型控制伺服电机,使任意气隙间距下都反馈出相应的伺服电机旋转角度,进而控制磁吸附力大小,保证机器人爬行过程中磁吸附力的稳定.通过测量实验,表明此磁力控制方法可行有效.

In view of the traditional teaching mode on industrial for assembly tasks involved in the attitude control, poor adaptability of assembly process problem such as open-loop control, designing an Improved Deep Deterministic Policy Gradient (DDPG) reinforcement learning algorithm to realize the axle-hole assembly task. This method obtains multi-dimensional information, including the end-effector's posture parameters and the robot joints, adopts the hierarchical reward mechanism function, to train robot searching, positioning and attitude-controlling skills, then finish the assembly position adjustment task; Finally, an improved DDPG algorithm based on improved hierarchical reward and multi-dimensional information is proposed to realize dynamic posture adjustment during robot assembly. We set up an experimental environment based on the Baxter robot in Gazebo simulation software. The experimental results show that, compared with DQN and DDPG algorithm, the improved DDPG algorithm performs well in the final training steps, rewards and success rate. Results compared with the previous two algorithms, the success rate increased by 21.7% and 15.4%. By comparing the changes of state dimension, the experiment further proves that the improved DDPG algorithm has the advantage of dynamically adjusting the pose in the process of axle-hole assembly task.

疫情期间,东北石油大学机械设计制造及其自动化专业教师不忘教育初心,坚守育人使命,停课不停教,在线上开展全部课程.教师团结协作、开拓创新,高质量、高标准、高要求、高效率地完成全部理论与实践教学任务,做到线上线下教学质量实质等效.通过在线教学历练,专业师资团队精神与业务能力持续增强,成功为专业内涵建设助力添彩.

介绍了一种在传统螺杆式送粉器的基础上通过增加压差结构使送粉更加稳定的精密热喷涂送粉器.首先确立精密热喷涂送粉器的关键参数,完成整体机械结构的设计、气路电路设计及相关元件的选型工作,并成功研制了新型的精密送粉器样机.然后将其与在线智能复合喷涂配套系统进行联接调试运行,并观察试样喷涂层的断面形貌,发现其送粉精度小于2％,且试样喷涂层的孔隙率极低,可以满足在线智能复合喷涂对送粉精度及涂层质量的要求.

为了进一步减小永磁缓速器的尺寸,提出一款基于Halbach阵列的永磁缓速器,永磁铁采用Halbach阵列后使缓速器中气隙的磁密强度大,制动力矩增加.建立永磁缓速器优化模型,优化后的径向尺寸明显降低.利用Maxwell软件对缓速器进行制动力矩和涡流场的仿真分析,进一步证明了Halbach式永磁缓速器优于常规永磁缓速器.将Maxwell计算得到的铜耗导入到ANSYS Workbench进行磁热耦合联合仿真,结果表明Halbach式铜环温度较常规式略有升高,但能保证温度处于合理范围内.

汽车永磁无级缓速器有利于实现各种路况下的最佳缓速制动.笔者研究了永磁缓速的工作原理,提出了一种新型轴向移动式的无级调速设计方案,通过理论分析计算确定了设计参数,并采用Matlab中的fmicon函数模块进行二阶非线性结构优化得出关键结构的最优解.利用ANSOFT软件建立了三维电磁场有限元仿真模型,对永磁缓速器进行磁场和制动力矩的静态和瞬态分析,分析磁场的分布特点和影响因素,对转子总成与定子鼓之间不同轴向位置的制动力矩分析表明,该缓速器能够实现良好的线性控制和稳定的制动力矩输出,能够满足无级缓速制动的需要.

2020年疫情肆虐之际,东北石油大学机自专业不忘教育初心,坚守育人使命,结合线上授课特点,制定细致课程考核办法.统一钉钉考试群、课程考试方式、考试流程、视频签到方法、答题卡模板、试卷批阅规范、文档存档办法,做到"安排明晰,形式合理",严要求、高标准完成课程线上考核工作,成功为专业内涵建设助力.

针对汽车手动变速器结构复杂、沉重,在实际教学中不容易展示等问题,在Unity3D平台上设计开发出一套虚拟仿真实验教学系统,本文阐述了该系统的设计过程.

针对石化等工业及民用环境下的铁磁性管道研究一种非包围式永磁吸附管外壁爬行机器人,能够适应从200mm到1000mm的大管径变化,可替代人工进行安全、高效的检修、维护作业.研究了基于四杆机构的四轮臂机器人构型,设计了可调吸附力的永磁吸附模块,利用Ansoft软件建立吸附模块的吸附能力仿真分析模型,优化了吸附模块的各主要尺寸.建立机器人在最危险状态的动力学分析模型,对设计样机开展了实验研究,能够实现大管径范围内的有效吸附和爬行.

Based on the opportunity of the emerging engineering construction, this paper puts forward a new idea on teaching mode design of mechanical foundation course based on flexible modular platform and multi-dimensional practice support for emerging engineering construction. This paper designs and requests the background of the emerging engineering, the support of the reform of the curriculum model, the proposal of the core concept, the present situation at home and abroad, the design of the target, the decomposition of the research content, the hypothesis of the research and so on. The expected results are also prospected.

With the rapid development of industry, the demand of enterprises for practical engineering talents is increasing,How to train practical mechanical talents to adapt to the development of modern enterprises is the main problem of universities.This paper discusses how to train these talents in order to meet the needs of market development.

对国内市场上常用的清洁车类型进行了简单分析和研究,针对目前市场上清洁车在美观性、休闲性、大众娱乐性等方面上的欠缺提出了"Easy Sweep"创意清洁车的改进方案,该方案从功能方面入手,提出了以自行车为载体的新型环保休闲清洁车,解决了目前清洁车体积过大、小区域面积作业不方便、不具备大众娱乐性、能源不环保等方面的问题。

In order to improve the measurement precision of mechanical system such as powder packing machine,we studied the relationship between the bulk density and bulk depth in theory,and improved the measurement method of natural bulk density experiment,and optimized the empirical formula of compacted density and compressive stress.The mathematical model of the relationship between bulk density and bulk depth was established by using the method of equal mass stratification.On the basis of the data of natural bulk density measurement of various materials,the correlation formula was fitted.Taking wheat flour as an example,the relationship between bulk depth and bulk density was established.According to the engineering application of screw material engineering,we proposed a new filler measuring method.

智能服务快递车项目以快递行业发展趋势为前提,以解决快递员和快递公司与用户间的问题为研究目标,将对小区用户或学校师生的人文关怀作为切入点进行设计。本项目充分考虑现今快递行业最后一公里出现的问题,减少了快递公司终端的费用支出、劳动力支出,另外通过附加的服务项目,为小区用户或者学校师生提供了便民服务,巧妙的成为一道风景线。

针对石化、炼化厂大量应用的加热炉内竖直联排管的检测,设计了一种管外爬行机构,此机构能够解决细长管小间隙单向排布检测难题;机器人的行走系统采用单驱动轮式行走方式,利用剪刀手抱紧结构能够适应5090 mm以内的管径变化。列出了该机器人动力学分析方程;并得出了最佳主驱动轮与主夹紧轮中心连线和水平线的夹角α范围;该爬行系统具有防偏、管径适应调节、结构简单等优点。

The slender furnace pipe with small gap is easy to have serious carburization phenomenon after long time heating, resulting in hardened and brittle pipe wall?For the detection of this type of furnace pipe, a novel pipe climbing robot is proposed?The design has completed the robot’ s 3D modeling?Finite element analysis has been conducted on the main stress components?Dynamic behavior of the robot in complex situations has been ana?lyzed using ADAMS software?The analyses have been focused on the application of the load and the addition of the constraint relation?The self?locking performance of the robot and the robot ’ s climbing state of the expanded tube was then simulated and analyzed?The results defined the stress and motion state of the robot, and provided the cor?responding curves?The study provides a reference for the research of the wheeled robot.

结合卓越工程师培养的内涵，对车辆专业的创新型人才培养的模式进行了探讨与试件，重新对车辆专业专业的人才培养目标进行了定位，采用了企业需求人才的培养方向，基于校企结合的培养途径，在课题体系的构建以及实践环节上进行改革，优化可课程体系及内容，初步实现了“校企对接，能力本位”的人才培养模式，实践证明，该培养模式可有效的实现学生毕业有岗的目的，能够与卓越工程培养的模式实现有效的对接。