面向吊装工程的履带起重机站位优化研究

发布时间：2018-01-18 05:36

本文关键词：面向吊装工程的履带起重机站位优化研究　出处：《大连理工大学》2011年硕士论文　论文类型：学位论文

【摘要】：随着我国经济快速稳定的发展,现代石油、化工、电力、冶金、市政建设和造船行业方面也得到了快速的发展,吊装工程随之越来越多,重达百吨及千吨的吊装设备逐渐普及,并且吊装设备的形状也千变万化,吊装作业及现场环境也日趋复杂,致使吊装方案的安全性、可靠性和高效性倍受关注。站位设计是吊装方案的重要环节之一,起重机合理的站位不仅可以提高工作效率,而且能够避免可能发生的危险,如碰撞危险、超载现象等,因此站位设计在吊装安全性方面具有举足轻重的作用。首先,对履带起重机的结构与机构及其机构的工作原理进行了分析,然后对履带起重机进行塔类设备吊装的吊装方式进行了研究,得出了在吊装过程中可能存在的危险因素,最后对常见的站位优化方式进行了分析和研究。其次,在研究了相关站位优化方法的基础上,针对复杂的吊装作业环境,给出了单机单任务的站位优化方法。该方法以起重机工作包络轨迹思想为基础,建立起重机的可行站位区域,利用网格离散该区域,在每个网个点进行吊装仿真及三维碰撞检测,剔除发生碰撞的点,最后基于安全性考虑,建立加权和优化目标,采用枚举法遍历可行站位点,最终求得起重机的最佳站位点。最后,考虑现代吊装作业的特点,双机协同吊装已经越来越普遍,因此本文给出了两台起重机协同作业下的站位优化方法。该方法考虑吊装设备、主起重机和溜尾起重机三者的站位。首先建立合理的搜索区域,利用二分法搜索该区域,以吊装设备的位置确定两台起重机的可行站位区域,离散该区域,在各离散点利用吊装仿真和三维碰撞检测,排除发生碰撞的点,基于安全性考虑,建立加权和优化目标,采用枚举法遍历吊装设备与两台起重机的可行站位点,最终求得三者的最佳站位点。本文在深入分析了解了履带起重机的吊装作业过程的基础上,针对单台和两台履带起重机的站位优化进行了深入的研究,并将研究所得站位优化方法嵌入到本课题组研制开发的三维吊装仿真系统中,作为智能计算模块的一部分,并借助三维吊装系统软件进行了案例分析,分析结果检验了方法的实用性与可行性,有效的提高了吊装方案的制作效率,解放了吊装方案工作人员的劳动力。
[Abstract]:With the rapid and stable development of economy in our country, modern petroleum, chemical industry, electric power, metallurgy, municipal construction and shipbuilding industry have also got rapid development. Hoisting equipment weighing up to 100 tons and thousands of tons is becoming more and more popular, and the shape of lifting equipment is also changing, and the lifting operation and site environment are becoming more and more complex, resulting in the safety of hoisting scheme. The reliability and high efficiency are paid more attention to. The design of station is one of the most important parts of the hoisting scheme. The reasonable station of crane can not only improve the working efficiency, but also avoid the possible hazards, such as collision risk. Overloading phenomenon, so station design in hoisting safety has a pivotal role. Firstly, the structure and mechanism of crawler crane and its working principle are analyzed, and then the hoisting mode of tower equipment for crawler crane is studied. The possible risk factors in the hoisting process are obtained, and the common optimization methods are analyzed and studied. Secondly, on the basis of the research on the optimization method of the related stations, a single task optimization method is presented for the complex hoisting operation environment. The method is based on the idea of the crane working envelope trajectory. The feasible station area of the crane is established and the grid is used to discretize the area. The hoisting simulation and 3D collision detection are carried out at each net point, and the collision point is eliminated. Finally, the security considerations are considered. The weighted and optimal objectives are established, and the feasible station points are traversed by enumeration method, and finally the optimal station points of the crane are obtained. Finally, considering the characteristics of modern hoisting operation, the double-machine cooperative hoisting has become more and more common, so this paper gives the optimization method of the station position under the cooperative operation of two cranes, which considers the hoisting equipment. First of all, the reasonable search area is established, the region is searched by dichotomy, the feasible station area of the two cranes is determined by the location of hoisting equipment, and the region is dispersed. By using hoisting simulation and 3D collision detection in each discrete point, the collision point is excluded. Based on the safety considerations, the weighted and optimal objectives are established, and the feasible station points of hoisting equipment and two cranes are traversed by enumeration method. Finally, find out the best position of the three points. Based on the deep analysis and understanding of the lifting operation process of crawler crane, this paper makes a deep research on the optimization of the station of single and two crawler cranes. The optimization method of research station is embedded in the 3D hoisting simulation system developed by our team, as part of the intelligent calculation module, and the case analysis is carried out with the help of the software of 3D hoisting system. The results verify the practicability and feasibility of the method, improve the production efficiency of the hoisting scheme, and free the labor force of the workers of the hoisting scheme.
【学位授予单位】：大连理工大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH213.7

【引证文献】