履帶式起重機設計,履帶式,起重機,設計 摘要 本文介紹了履帶式起重機發(fā)展國內(nèi)外的歷史背景，分析了履帶式起重機整體結構和工作特點，重點介紹了履帶式起重機的重要參數(shù)，吊鉤的設計，整體的液壓體統(tǒng)，履帶輪等相關數(shù)據(jù)。本文對原有的履帶式起重機進行實驗分析，然后根據(jù)實驗的結果完成了對現(xiàn)有履帶式起重機構進行結構優(yōu)化和設計。新型的履帶式起重機將原有的機械傳動方式改為液壓傳動的方式；采用的履帶式結構，使得起重機可以適應各種不同的工況地形，方便工作。 本文對履帶式起重機進行了三維建模分析，對整體結構進行了分析，改進采用了液壓裝置，能很好的應用于機械工程中。 工程實踐中吊裝方案設計仍然停留在傳統(tǒng)模式，采用手工校核方式選擇吊索具、通過查閱性能表選擇起重機、利用AutoCAD等常規(guī)二維繪圖軟件設計吊裝過程等。這種傳統(tǒng)設計方法嚴重依賴設計者的經(jīng)驗，需要多次迭代，設計周期長，吊裝前無法全面、直觀地查看動態(tài)的吊裝過程。 在此背景下，計算機輔助吊裝方案設計（CALPAD）技術應運而生。其中，起重機選型可快速選擇合適的起重機，而路徑規(guī)劃及吊裝仿真可直觀、快捷地設計吊裝過程并進行預演。然而，通過對比工程需求和現(xiàn)有研究發(fā)現(xiàn)：對應用廣泛的桁架臂履帶起重機選型較少；單機吊裝路徑規(guī)劃未考慮起重機的行走；雙機吊裝仿真研究較少，現(xiàn)有方法待設置參數(shù)多且難以確定。由于大多現(xiàn)有研究缺乏對某些工程約束的考慮， 致使其難以真正應用到實際吊裝工程。 為此，本文在多重約束下起重機智能選型、考慮行走的單機吊裝路徑規(guī)劃、雙機吊裝仿真三方面開展研究并實現(xiàn)相應的軟件，所形成的理論成果和軟件已成功應用到實際吊裝工程。本文主要研究工作如下： 1.給出了一種面向移動式起重機的多重約束起重機選型算法。首先構建了多重約束的起重機選型數(shù)學模型，基于此給出了選型算法的總體框架，然后以桁架臂履帶起重機為例詳細闡述了算法框架中起重性能、被吊物與臂架間距、接地比壓約束處理的實現(xiàn)，最后通過實例驗證了算法的可用性和有效性。與現(xiàn)有選型算法相比，技術上該算法將復雜三維空間距離計算問題轉化為二維幾何計算，降低了間距約束處理難度；該算法由于無需起重機、被吊物三維建模，在應用上更加便捷。 2.提出了一種考慮行走的單臺履帶起重機吊裝路徑規(guī)劃算法。首先對規(guī)劃問題進行數(shù)學建模，并設計了基于RRT-Connect++的吊裝路徑規(guī)劃算法，給出了位形空間的定義、兩位形間的距離度量、履帶起重機非完整運動學約束的表達，最后通過三個仿真實驗驗證算法的有效性和性能，結果表明該算法能在各種復雜吊裝環(huán)境中找到一條無超載、無碰撞可行路徑。算法將履帶起重機行走的非完整運動學約束融入算法中，使路徑更自然、平滑。此外，其中的距離度量將長度量綱和角度量綱巧妙地統(tǒng)一起來較好地表達吊裝路徑長度，并且賦予距離度量直觀物理意義，避免了為每個分量設置權重系數(shù)。 ?3.提出了一種基于空間幾何約束的雙機協(xié)同吊裝仿真方法。針對典型吊裝工況的雙機吊裝仿真問題，研究了雙機之間的協(xié)同，設計了雙機協(xié)同吊裝仿真模型，給出了雙機系統(tǒng)基本動作的表達與設計。通過實例驗證仿真方法的可用性和有效性，結果表明該方法可容易地模擬典型工況的雙機吊裝過程。由于雙機的協(xié)同策略已嵌入基本動作的實現(xiàn)，因此，在典型雙機吊裝中該方法吊裝過程仿真更準確、仿真操作更簡便。此外，該方法將兩臺起重機和被吊物看成一個完整的復雜系統(tǒng)稱為雙機系統(tǒng)），該概念為雙機協(xié)同吊裝的其它研究提供了一個全新的視角。 4.提出了一種基于正向運動學的雙機吊裝仿真通用方法。首先從靜力學的角度探究雙機吊裝中起升系統(tǒng)部分的運動學規(guī)律，利用最小勢能原理將起升系統(tǒng)部分的運動學抽象為帶約束的數(shù)學優(yōu)化問題，提出基于最小勢能原理的起升繩偏擺角及起升力求解算法，通過與ADAMS仿真結果對比驗證了求解算法的正確性。然后在此基礎上設計了基于正向運動學的雙機吊裝仿真通用方法。最后通過實例驗證方法的可用性和有效性，結果表明該方法是一種設計和預演雙機吊裝過程的有效手段。相比現(xiàn)有基于動力學的雙機吊裝仿真方法，該方法僅需被吊物的重心相對位置及重量即可準確求得吊裝過程中被吊物位姿及起升力，為雙機吊裝仿真提供有力的支撐，可容易地嵌入吊裝仿真軟件中，實現(xiàn)實時的雙機吊裝作業(yè)仿真，具有參數(shù)少、實時等特點。 關鍵詞: 履帶式起重機；結構設計; 三維建模 3 Abstract This article describes the historical background of the development of domestic crawler cranes, crawler cranes overall analysis of the structure and operation characteristics, focusing on the important parameters related data crawler cranes, hook design, the overall hydraulic decency, track wheel. In this paper, the original crawler crane experimental analysis, and then complete the existing crawler crane mechanism and structural design optimization based on experimental results. The new crawler crane to the original mechanical transmission hydraulic transmission mode; crawler structure used so cranes can adapt to different terrain conditions, to facilitate the work. In this paper, crawler crane 3D modeling analysis, the overall structure is analyzed and improved using a hydraulic device, it can be well used in mechanical engineering. ?Engineering practice lifting program design still remain in the traditional mode, manually checking mode selection sling, crane selection by referring to the performance table, the use of conventional two-dimensional drawing software AutoCAD and other design lifting processes. This traditional design approach relies heavily on the designer's experience, require multiple iterations, long design cycles, not fully before lifting, visualize dynamic lifting process. ?In this context, computer-aided design lifting (CALPAD) technology emerged. Among them, the crane can quickly select the appropriate selection of the crane, and hoisting path planning and simulation can be intuitive and quick lifting process design and preview. However, by comparing the project needs and existing research found that: the application of a wide range of lattice boom crawler cranes less selection; single lifting crane walking path planning is not considered; less simulation of dual-lifting, the conventional method many parameters to be set and it is difficult to determine. Since most existing research projects lack of consideration of certain constraints, So that it is difficult to apply to real actual hoisting. In this paper, crane under multiple constraints intelligent selection, consider walking path planning lifting single, dual lifting three simulation research and implement the appropriate software, theoretical results and software form has been successfully applied to the actual hoisting. The main research work are as follows: 1.Shows the multiple constraints crane selection algorithm for mobile crane. First, we constructed a mathematical model of multiple crane selection constraints, based on this selection gives the overall framework of the algorithm, then lattice boom crawler crane for example detail the algorithm performance lifting frame, hanging objects and arm spacing, ground pressure constraint implementation process Finally, an example to verify the availability and effectiveness of the algorithm. Compared with the existing selection algorithm, the algorithm will be technically complex three-dimensional spatial distance computation problem into a two-dimensional geometry calculations, reducing the spacing constraint difficult to deal with; the algorithm because no crane was lifting three-dimensional modeling objects in the application more convenient. 2. The proposed consider walking a single crawler crane hoisting path planning algorithm. First planning mathematical modeling and design based on RRT-Connect ++ lifting path planning algorithm, gives the definition of the configuration space, the distance measure between two shaped expression, crawler cranes nonholonomic kinematic constraints, and finally availability and performance through three simulation verification algorithm, the results show that the algorithm can be found in a variety of complex environments without lifting overload, collision-free path feasible. Algorithm nonholonomic kinematic constraint crawler crane walking into the algorithm to make the path more natural, smooth. In addition, where the distance metric length dimensions and angle dimension subtly unify better expression lifting path length, and the distance measure gives intuitive physical meaning, avoid setting the weighting factor for each component. 3. The proposed based on dual-lifting collaborative simulation geometry of space constraints. For typical simulation for dual-hoisting hoisting working condition, collaborative research between the two planes, designed dual-lifting collaborative simulation model are given expression and design of the basic operation of the dual system. Examples of the availability and effectiveness of the verification by simulation method, the results show that this method can be easily simulated dual-lifting process typical operating conditions. Since the cooperative strategy is embedded dual machine to achieve the basic operation, therefore, in a typical dual-lifting in the lifting process simulation method is more accurate simulation easier to use. In addition, the method of two cranes and hanging objects as a whole complex system called dual system), the concept of Double other aircraft Cooperative hoisting provides a fresh perspective. 4. Proposes a forward kinematics of the double ceiling mount Common Simulation Method. First, from the point of view of statics inquiry Duplex Lifting lifting system from the kinematics law section, the principle of minimum potential energy will play a part of the lifting system kinematics abstract as a constrained mathematical optimization problem, since the principle of minimum potential energy of hoisting ropes yaw angle and lift from the algorithm, with the ADAMS simulation results verify the correctness of the algorithm. Then on the basis of the forward kinematics design double ceiling mount Common Simulation Method. Finally, the availability and effectiveness of the verification method for instance, the results show that the method is an effective means to design and preview dual-lifting process. Compared to conventional dual-based dynamics simulation hoisting method, which only needs to be the center of gravity relative to the position and weight of the hanging objects can be accurately determined during the lifting posture and hanging objects from the lift for lifting dual-emulation provided strong support, can be easily embedded hoisting simulation software for real-time dual-lifting operation simulation, with less parameters, real-time characteristics. Key words: Crawler Crane； The Structure Design； Three Modeling 目 錄 第一章國內(nèi)外發(fā)展現(xiàn)狀 2 1.1國外履帶式起重機發(fā)展現(xiàn)狀 2 1.1.1 利勃海爾公司 2 1.1.2 特雷克斯德馬格公司 2 1.1.3 馬尼托瓦克公司 2 1.2 國內(nèi)履帶式起重機發(fā)展現(xiàn)狀 3 1.3 履帶起重機的發(fā)展趨勢 3 第二章 履帶式起重機的重要參數(shù) 5 2.1 起重量Q 5 2.2 工作幅度R和有效幅度A 5 2.3 起重力矩M 5 2.4 起升高度H 6 2.5 工作速度V 6 第三章 吊鉤的參數(shù)設計 8 3.1 吊鉤的結構設計 8 3.2 吊鉤的類型及其選擇類型 9 3.3 吊鉤尺寸的設計計算 10 第四章 發(fā)動機的選擇及其發(fā)動機發(fā)熱條件 13 4.1 發(fā)動機的選擇及發(fā)熱條件 13 第五章履帶式起重機液壓系統(tǒng) 14 9 沈陽化工大學科亞學院學士學位論文 致謝 5.1液壓系統(tǒng)整體介紹 16 5.2 整體的性能分析 16 5.3 液壓傳動總結 17 第六章履帶式起重機操作注意事項 18 第七章基于Solidworks軟件進行的建模及裝配 22 7.1 Solidworks軟件建模與裝配概述 22 7.2 運用Solidworks軟件進行零件設計 22 7.3 運用Solidworks軟件進行零件裝配 25 第八章 結論與展望 26 8.1 結論 26 8.2 展望 27 參考文獻 28 致謝 29