正铲挖掘装置的结构综合及自动运动分析

发布时间：2018-06-14 18:17

本文选题：正铲液压挖掘机 + 正铲挖掘装置　；参考：《燕山大学》2013年硕士论文

【摘要】：随着露天煤矿开采需求的不断增加，大型正铲液压挖掘机得到了越来越广泛的应用。目前国外生产的正铲挖掘装载装置有两种构型，然而，由于国外知识产权的垄断，国内只能生产一种构型的正铲挖掘装载装置。鉴于此，本文综合出了15种新型正铲挖掘装置，并且提出了多环耦合机构运动学分析的通用方法，利用该方法实现了15种正铲挖掘装置的自动运动分析。笔者以美国特雷克斯公司的12杆3自由度“Triple-Power”型正铲挖掘装置为基准，，基于运动链拓扑图图谱库综合出了全部的平面单铰12杆3自由度运动链拓扑图，通过建立“322筛选原则”、“运动链转换原则”、“正铲挖掘装置优选原则”对机构进行优选，最终优选出15种新型的适合正铲挖掘的工作装置。为进一步分析这类机构的性能，首先需要对其进行运动学分析。针对其多环耦合的特点，提出了基于“最小运动单元”的通用分析方法。首先把正铲挖掘装置拆分成最小运动单元，然后对其进行运动学分析，并将其分析过程编写成子程序模块。根据正铲挖掘装置环路间的几何关系建立运动分析框图，该运动学分析框图不仅表示了该机构运动学分析时所需要的最小运动单元，而且还表示了各最小运动单元之间输入与输出的传递关系。最后根据运动分析框图所表示的最小运动单元之间的输入与输出的传递关系，编写运动学分析的主程序，从而实现自动的运动学分析。基于MATLAB程序设计语言编写了正铲挖掘装置运动学自动分析软件，该软件能够对该15种正铲挖掘装置的位置正解、位置反解、工作空间、速度分析、雅可比及性能参数进行自动的分析。
[Abstract]:With the increasing demand of opencast coal mining, large hydraulic excavators have been used more and more widely. At present, there are two types of forward shovel excavating and loading devices produced abroad. However, due to the monopoly of foreign intellectual property rights, only one type of forward shovel excavating and loading device can be produced in China. In view of this, this paper synthesizes 15 kinds of new forward excavating devices, and puts forward a general method of kinematics analysis of multi-ring coupling mechanism, and realizes the automatic motion analysis of 15 kinds of forward shovel excavating devices by using this method. Based on Triple-Power, a 12-bar 3-DOF forward shovel excavator made by Terex Company in USA, based on the kinematic chain topology database, all the planar single-hinged 12-bar 3-DOF kinematic chain topologies are synthesized. Through the establishment of "322 screening principle", "Motion chain conversion principle" and "forward shovel excavating device optimal selection principle", 15 new types of working devices suitable for forward shovel excavation are selected. In order to further analyze the performance of this kind of mechanism, it is necessary to analyze its kinematics first. According to the characteristics of multi-loop coupling, a general analysis method based on "minimum motion unit" is proposed. First, the forward shovel excavator is divided into the smallest moving unit, and then the kinematics analysis is carried out, and the analysis process is programmed into a subroutine module. The kinematics analysis block diagram is established according to the geometric relationship between the loops of the forward shovel excavator. The kinematics analysis block diagram not only represents the minimum kinematic unit required for kinematics analysis of the mechanism, The transfer relationship between the input and output of the minimum moving units is also represented. Finally, the main program of kinematics analysis is compiled according to the transfer relation between the input and output of the minimum motion unit, which is represented by the block diagram of motion analysis, and the automatic kinematics analysis is realized. Based on MATLAB programming language, the automatic kinematics analysis software of forward shovel excavator is developed. The software can analyze the position forward solution, position inverse solution, workspace and velocity of the 15 kinds of forward shovel excavator. Jacobian and performance parameters are automatically analyzed.
【学位授予单位】：燕山大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：TD422.2

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