某工程机械机械手伸缩臂及其俯仰机构系统优化研究

发布时间：2018-05-18 07:29

本文选题：伸缩臂 + 变幅铰点　；参考：《西南交通大学》2012年硕士论文

【摘要】：本文主要针对如何在恶劣的隧道施工环境下架设混凝土湿喷机机械手伸缩臂喷射头等作业工具来替代人工作业的问题。通过深入研究流动式起重机和混凝土湿喷机机械手伸缩臂的工作特点,综合分析两者,类比技术成熟的流动式起重机伸缩臂技术后,提出了机械手伸缩臂总成的设计方案,并由此展开对机械手伸缩臂及其俯仰机构系统优化的研究。具体工作内容如下：首先,本文对国内外的伸缩臂发展做了简要介绍,展现了该湿喷机机械手采用伸缩臂结构的前景。在系统分析流动式起重机伸缩臂各款结构的基础上,提出了圆角矩形截面机械手伸缩臂的设计方案。其次,通过研究湿喷机机械手伸缩臂的各种工作状态和载荷情况,确定了该伸缩臂9种典型的工况。由类比流动式起重机的传统理论计算和验证校核方法,对该伸缩臂结构进行了详细的设计,包括了伸缩臂布置与连接方式、构造尺寸以及变幅铰点等关键参数。考虑到采用传统理论计算比较粗略,在对伸缩臂的刚度、强度和稳定性的计算过程中简化过多,影响了伸缩臂的计算精度；同时采用传统理论方法难以得到伸缩臂全面的计算结果,特别是滑块处的局部应力,故本文在传统理论计算的基础上,采用目前比较成熟的ANSYS Workbench作为有限元分析工具对该伸缩臂进行有限元分析。在ANSYS Workbench软件中建立完整的伸缩臂分析模型,并通过接触设置、网格划分、加载、约束处理、求解以及后处理等一系列有限元分析步骤,完成对该伸缩臂的力学分析。最后,通过ANSYS Workbench软件自身的CAD、CAE和优化模块之间的无缝数据传输功能,利用结构优化设计理论对该伸缩臂进行了深入地有限元结构优化研究。寻找影响该伸缩臂性能的关键因素,在伸缩臂轻量化研究方面取得一定的成效,为同类伸缩臂结构的研发提供了参考。
[Abstract]:This paper mainly aims at the problem of how to set up the spraying head tool of the telescopic arm of the manipulator of the wet shotcrete machine in the harsh tunnel construction environment to replace the manual work. Based on the deep study of the working characteristics of the telescopic arm of the mobile crane and the concrete wet spray machine manipulator, the design scheme of the telescopic arm assembly of the manipulator is put forward after the comprehensive analysis of the two, and the analogy of the mature technology of the telescopic arm technology of the mobile crane. The optimization of the manipulator's telescopic arm and its pitching mechanism is studied. The details of the work are as follows: Firstly, the development of telescopic arm at home and abroad is briefly introduced, and the prospect of adopting telescopic arm structure for this wet jet manipulator is presented. Based on the systematic analysis of the structures of the telescopic boom of the mobile crane, the design scheme of the telescopic arm of the circular rectangular section manipulator is proposed. Secondly, nine typical working conditions of the telescopic arm of wet jet machine manipulator are determined by studying the various working states and load conditions of the telescopic arm. Based on the traditional theoretical calculation and verification method of the analogous mobile crane, the structure of the telescopic boom is designed in detail, including the key parameters such as the arrangement and connection of the telescopic boom, the construction size and the changing hinge point, etc. Considering the rough calculation of the traditional theory, the calculation accuracy of the telescopic arm is affected by the simplification of the stiffness, strength and stability of the telescopic arm. At the same time, it is difficult to obtain the overall calculation results of the telescopic arm, especially the local stress of the slider by using the traditional theoretical method, so this paper is based on the traditional theoretical calculation. The finite element analysis of the telescopic arm is carried out by using the mature ANSYS Workbench as the finite element analysis tool. A complete analysis model of telescopic arm is established in ANSYS Workbench software, and a series of finite element analysis steps such as contact setting, mesh division, loading, constraint processing, solution and post processing are used to complete the mechanical analysis of the telescopic arm. Finally, through the seamless data transmission function between the CADU CAE and the optimization module of ANSYS Workbench software, the structure optimization of the telescopic arm is studied by using the theory of structural optimization design. The key factors affecting the performance of the telescopic arm are found, and some achievements have been made in the research of the light weight of the telescopic arm, which provides a reference for the research and development of the similar telescopic arm structure.
【学位授予单位】：西南交通大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH213.6

【引证文献】