高空作业平台折叠臂变幅机构铰点位置优化
发布时间：2019-03-02 16:09
【摘要】：变幅机构是实现工程机械设备臂架幅度变化的工作机构,用来扩大产品工作范围,提高工作效率。臂架类高空作业平台常见为液压油缸变幅,变幅形式普遍采用三铰点变幅,为提高变幅机构性能以适应复杂作业工况,研究了一种典型的折叠臂变幅机构,该变幅机构是一根液压油缸与连杆相结合的多连杆变幅机构,其结构形式新颖,在保证整机作业高度前提下,缩短了主臂长度和变幅油缸行程,增大了作业幅度,改善了回转支承受力,增强了整机后倾稳定性,并提高了设备作业灵活性,广泛应用于臂架类高空作业平台,但折叠臂变幅机构铰点数目多、布置难度大,机构各铰点受力计算和位置布置比传统三铰点变幅机构更加复杂,目前通常采用方案比选或参考类似产品的方法进行设计,得到的方案无法保证达到既经济又安全的设计目标。为此,本文提供了计算并优化折叠臂变幅机构受力的方法,为机构铰点布置与结构设计提供了重要依据,具有较大的工程应用意义。 本论文以大连理工大学与湖南山河智能机械股份有限公司合作研发的SWHT系列自行式高空作业平台实际项目为背景,主要研究内容如下： (1)对折叠臂变幅机构进行力学分析,推导静力学平衡方程和变幅机构各角度之间关系,求解静力学平衡方程,得到变幅机构关键部件和铰点受力表达式； (2)借助MATLAB遗传算法工具箱,建立以变幅油缸受力为目标函数、以变幅机构铰点坐标位置为设计变量的优化数学模型,对折叠臂变幅机构进行优化设计； (3)将立柱、折臂、平衡拉杆和动力拉杆作为柔性体,利用刚柔耦合的建模方法建立折叠臂变幅机构的ADAMS模型； (4)对变幅机构进行仿真分析,获得其关键部件及铰点受力曲线,与优化后计算结果作比较,验证力学模型和优化结果正确性,同时提取关键部件应力和位移曲线,并对样机进行试验,验证优化结果工程实用性。
[Abstract]:The amplitude-changing mechanism is a working mechanism to realize the amplitude change of the jib of construction machinery and equipment, which is used to enlarge the working range of the product and improve the working efficiency. In order to improve the performance of the amplitude-changing mechanism, a typical folding arm amplitude-changing mechanism is studied in order to improve the performance of the amplitude-changing mechanism to adapt to the complicated working conditions, in order to improve the performance of the amplitude-changing mechanism, a typical folding arm amplitude-changing mechanism is studied in order to improve the performance of the amplitude-changing mechanism. The amplitude changing mechanism is a multi-connecting rod amplitude changing mechanism combined with hydraulic cylinder and connecting rod, and its structure is novel. Under the premise of ensuring the working height of the whole machine, the length of the main arm and the stroke of the variable amplitude cylinder are shortened, and the operating amplitude is increased. It improves the bearing capacity of rotation, enhances the stability of backtilt of the whole machine, and improves the flexibility of equipment operation. It is widely used in the high altitude working platform of arm frame. However, the folding arm swing mechanism has many hinge points and is difficult to be arranged. The mechanical calculation and position arrangement of each hinge point of the mechanism is more complicated than that of the traditional three-hinge-point amplitude-changing mechanism. At present, the method of selecting or referring to similar products is usually used in the design of the mechanism. The obtained scheme can not guarantee the economic and safe design goal. In this paper, the method of calculating and optimizing the force of the folding arm variable amplitude mechanism is provided, which provides an important basis for the layout of hinge points and the structural design of the mechanism, and has great significance in engineering application. This thesis is based on the actual project of SWHT series self-propelled aerial operation platform developed by Dalian University of Technology and Hunan Shanghe Intelligent Machinery Co., Ltd. The main contents are as follows: (1) the mechanical analysis of the folding arm amplitude-changing mechanism is carried out, and the relationship between the statics equilibrium equation and the angle of the amplitude-changing mechanism is deduced, and the static equilibrium equation is solved. The force expressions of the key components and hinge points of the amplitude-changing mechanism are obtained. (2) with the aid of MATLAB genetic algorithm toolbox, the optimal mathematical model is established, which takes the force of the variable amplitude cylinder as the objective function and the coordinates of the hinge point of the amplitude changing mechanism as the design variable to optimize the design of the folding arm amplitude changing mechanism; (3) using the rigid-flexible coupling modeling method to establish the ADAMS model of the folding arm amplitude-changing mechanism, the column, the folding arm, the balanced pull rod and the dynamic pull rod are used as flexible bodies. (4) through the simulation and analysis of the amplitude-changing mechanism, the stress curves of the key components and hinge points are obtained. Compared with the calculated results after optimization, the correctness of the mechanical model and the optimization results are verified, and the stress and displacement curves of the key components are extracted at the same time. The prototype is tested to verify the engineering practicability of the optimization results.
【学位授予单位】：大连理工大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH112
本文编号：2433216
[Abstract]:The amplitude-changing mechanism is a working mechanism to realize the amplitude change of the jib of construction machinery and equipment, which is used to enlarge the working range of the product and improve the working efficiency. In order to improve the performance of the amplitude-changing mechanism, a typical folding arm amplitude-changing mechanism is studied in order to improve the performance of the amplitude-changing mechanism to adapt to the complicated working conditions, in order to improve the performance of the amplitude-changing mechanism, a typical folding arm amplitude-changing mechanism is studied in order to improve the performance of the amplitude-changing mechanism. The amplitude changing mechanism is a multi-connecting rod amplitude changing mechanism combined with hydraulic cylinder and connecting rod, and its structure is novel. Under the premise of ensuring the working height of the whole machine, the length of the main arm and the stroke of the variable amplitude cylinder are shortened, and the operating amplitude is increased. It improves the bearing capacity of rotation, enhances the stability of backtilt of the whole machine, and improves the flexibility of equipment operation. It is widely used in the high altitude working platform of arm frame. However, the folding arm swing mechanism has many hinge points and is difficult to be arranged. The mechanical calculation and position arrangement of each hinge point of the mechanism is more complicated than that of the traditional three-hinge-point amplitude-changing mechanism. At present, the method of selecting or referring to similar products is usually used in the design of the mechanism. The obtained scheme can not guarantee the economic and safe design goal. In this paper, the method of calculating and optimizing the force of the folding arm variable amplitude mechanism is provided, which provides an important basis for the layout of hinge points and the structural design of the mechanism, and has great significance in engineering application. This thesis is based on the actual project of SWHT series self-propelled aerial operation platform developed by Dalian University of Technology and Hunan Shanghe Intelligent Machinery Co., Ltd. The main contents are as follows: (1) the mechanical analysis of the folding arm amplitude-changing mechanism is carried out, and the relationship between the statics equilibrium equation and the angle of the amplitude-changing mechanism is deduced, and the static equilibrium equation is solved. The force expressions of the key components and hinge points of the amplitude-changing mechanism are obtained. (2) with the aid of MATLAB genetic algorithm toolbox, the optimal mathematical model is established, which takes the force of the variable amplitude cylinder as the objective function and the coordinates of the hinge point of the amplitude changing mechanism as the design variable to optimize the design of the folding arm amplitude changing mechanism; (3) using the rigid-flexible coupling modeling method to establish the ADAMS model of the folding arm amplitude-changing mechanism, the column, the folding arm, the balanced pull rod and the dynamic pull rod are used as flexible bodies. (4) through the simulation and analysis of the amplitude-changing mechanism, the stress curves of the key components and hinge points are obtained. Compared with the calculated results after optimization, the correctness of the mechanical model and the optimization results are verified, and the stress and displacement curves of the key components are extracted at the same time. The prototype is tested to verify the engineering practicability of the optimization results.
【学位授予单位】：大连理工大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：TH112
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