多履带行走装置传动系统优化技术应用研究

发布时间：2018-03-23 13:35

本文选题：多履带行走装置　切入点：传动系统　出处：《吉林大学》2011年硕士论文

【摘要】：斗轮挖掘机是大型露天煤矿连续开采成套设备的核心。随着斗轮挖掘机生产率的提高,其自身向大型化、巨型化方向发展。多履带行走装置担负着整机的承重、移动和转向行走,是斗轮挖掘机的关键部件,开发高可靠性的多履带行走装置是实现国产大型斗轮挖掘机产业化的关键技术。论文结合矿山机械企业产学研合作项目“三支点六履带行走装置开发”,重点研究三支点六履带行走装置的驱动功率确定、传动系统参数的优化设计,并开发了传动系统参数优化设计软件平台。在广泛查阅国内外文献基础上,介绍了多履带行走装置的结构特点、转向方式、驱动和控制等,对国内外学者在齿轮传动优化设计方面取得的成果进行了综述。基于履带车辆行驶力学,以六履带行走装置为例分析了多履带行走装置运动学,建立了履带的受力和履带接地面速度瞬心之间的关系,在此基础上建立了多履带行走装置稳态转向力学模型和求解算法,提出了多履带行走装置驱动功率的计算方法,为传动系统的设计确定了边界条件。针对多履带行走装置常用的两种多级传动方案:“蜗杆-两级行星轮”和“锥齿轮-圆柱齿轮-两级行星轮”,基于齿轮强度理论,以结构紧凑,传动系统总体积最小为目标函数,以各齿轮的强度要求、传动比约束、行星齿轮的同心条件、邻接条件、设计变量的边界条件等为约束条件,建立“蜗杆-两级行星齿轮”多级减速器和“锥齿轮-圆柱齿轮-两级行星齿轮”多级减速器的优化数学模型。采用约束遗传算法对多履带行走装置传动系统进行了参数优化。约束遗传算法是基于概率搜索技术上的优化方法,不但可以避免陷于局部最优解,还能处理复杂的非线性约束问题,以某六履带行走装置为例对传动系统进行了优化设计,对比了“蜗杆-两级行星齿轮”的传统设计结果和遗传算法优化设计结果,优化方案在满足承载能力前提下,总体积较传统设计方案减少了18.12%,效果显著。开发多履带行走装置传动系统参数优化设计软件。基于Matlab的GUIDE工作平台,开发了传动系统参数优化设计软件,通过优化软件对多履带行走装置传动系统的优化设计,实现了“蜗杆-两级行星齿轮”多级减速器和“锥齿轮-圆柱齿轮-两级行星齿轮”多级减速器的遗传算法求解。论文的研究工作对于指导多履带行走装置驱动电机的选型和传动系统设计具有重要的实际意义。
[Abstract]:Bucket wheel excavator is the core of continuous mining equipment in large opencast coal mine. With the increase of productivity of bucket wheel excavator, it develops towards the direction of large scale and giant. The multi-track walking device bears the load of the whole machine. Moving and steering are the key parts of the bucket wheel excavator. The development of high reliability multi-track walking device is the key technology to realize the industrialization of large bucket wheel excavator made in China. This paper focuses on the development of three fulcrum and six crawler walking device combined with the cooperation project of production, education and research in mining machinery enterprises. The driving power of the three-fulcrum six-track walking device is determined. The optimal design of transmission system parameters and the software platform of transmission system parameter optimization design are developed. On the basis of extensive reference to domestic and foreign literature, the structural characteristics, steering mode, drive and control of multi-track walking device are introduced. Based on the driving mechanics of tracked vehicle, the kinematics of multi-track walking device is analyzed by taking six-track walking device as an example. The relationship between the force acting on the track and the instantaneous center of the ground velocity connected with the track is established. On this basis, the steady state steering mechanics model and the solution algorithm of the multi-track walking device are established, and the calculation method of the driving power of the multi-track walking device is put forward. The boundary conditions are determined for the design of transmission system. This paper aims at two kinds of multistage transmission schemes commonly used in multi-track walking device: worm-two-stage planetary gear and "bevel gear cylindrical gear two-stage planetary gear". Based on the theory of gear strength, the gear structure is compact. The minimum total volume of transmission system is the objective function. The strength requirement of each gear, the constraint of transmission ratio, the concentric condition of planetary gear, the contiguity condition, the boundary condition of design variable, etc. The optimal mathematical models of "worm gear two-stage planetary gear" multi-stage reducer and "bevel gear cylindrical gear two-stage planetary gear" multistage reducer are established. The constrained genetic algorithm is used to drive the multi-track walking device. The constrained genetic algorithm is an optimization method based on probabilistic search technology. Not only the local optimal solution can be avoided, but also the complex nonlinear constraint problem can be solved. Taking a six-track walking device as an example, the transmission system is optimized. In this paper, the traditional design results of "worm gear and two-stage planetary gear" and the results of genetic algorithm optimization design are compared. Under the premise of satisfying the bearing capacity, the total volume of the optimization scheme is 18.12% less than that of the traditional design scheme, and the effect is remarkable. Based on the GUIDE working platform of Matlab, the optimal design software of the transmission system parameters is developed, and the optimal design of the transmission system of the multi-track walking device is realized by the optimization software. The genetic algorithm is applied to solve the multistage reducer of worm gear and planetary gear with two stages and the multistage reducer with bevel gear and cylinder gear and two stage planetary gear. The research work of this paper is of great practical significance to guide the selection of driving motor and the design of drive system of multi-track walking device.
【学位授予单位】：吉林大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH132.41

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