小型为例重物提升机的设计(以履带式起重机)

摘要本文介绍了履带式起重机发展国内外的历史背景，分析了履带式起重机整体结构和工作特点，重点介绍了履带式起重机的重要参数，吊钩的设计，整体的液压体统，履带轮等相关数据。

本文对原有的履带式起重机进行实验分析，然后根据实验的结果完成了对现有履带式起重机构进行结构优化和设计。

新型的履带式起重机将原有的机械传动方式改为液压传动的方式；采用的履带式结构，使得起重机可以适应各种不同的工况地形，方便工作。

本文对履带式起重机进行了三维建模分析，对整体结构进行了分析，改进采用了液压装置，能很好的应用于机械工程中。

工程实践中吊装方案设计仍然停留在传统模式，采用手工校核方式选择吊索具、通过查阅性能表选择起重机、利用AutoCAD等常规二维绘图软件设计吊装过程等。

这种传统设计方法严重依赖设计者的经验，需要多次迭代，设计周期长，吊装前无法全面、直观地查看动态的吊装过程。

在此背景下，计算机辅助吊装方案设计（CALPAD）技术应运而生。

其中，起重机选型可快速选择合适的起重机，而路径规划及吊装仿真可直观、快捷地设计吊装过程并进行预演。

然而，通过对比工程需求和现有研究发现：对应用广泛的桁架臂履带起重机选型较少；单机吊装路径规划未考虑起重机的行走；双机吊装仿真研究较少，现有方法待设置参数多且难以确定。

由于大多现有研究缺乏对某些工程约束的考虑，致使其难以真正应用到实际吊装工程。

为此，本文在多重约束下起重机智能选型、考虑行走的单机吊装路径规划、双机吊装仿真三方面开展研究并实现相应的软件，所形成的理论成果和软件已成功应用到实际吊装工程。

本文主要研究工作如下：1.给出了一种面向移动式起重机的多重约束起重机选型算法。

首先构建了多重约束的起重机选型数学模型，基于此给出了选型算法的总体框架，然后以桁架臂履带起重机为例详细阐述了算法框架中起重性能、被吊物与臂架间距、接地比压约束处理的实现，最后通过实例验证了算法的可用性和有效性。

与现有选型算法相比，技术上该算法将复杂三维空间距离计算问题转化为二维几何计算，降低了间距约束处理难度；该算法由于无需起重机、被吊物三维建模，在应用上更加便捷。

2.提出了一种考虑行走的单台履带起重机吊装路径规划算法。

首先对规划问题进行数学建模，并设计了基于RRT-Connect++的吊装路径规划算法，给出了位形空间的定义、两位形间的距离度量、履带起重机非完整运动学约束的表达，最后通过三个仿真实验验证算法的有效性和性能，结果表明该算法能在各种复杂吊装环境中找到一条无超载、无碰撞可行路径。

算法将履带起重机行走的非完整运动学约束融入算法中，使路径更自然、平滑。

此外，其中的距离度量将长度量纲和角度量纲巧妙地统一起来较好地表达吊装路径长度，并且赋予距离度量直观物理意义，避免了为每个分量设置权重系数。

3.提出了一种基于空间几何约束的双机协同吊装仿真方法。

针对典型吊装工况的双机吊装仿真问题，研究了双机之间的协同，设计了双机协同吊装仿真模型，给出了双机系统基本动作的表达与设计。

通过实例验证仿真方法的可用性和有效性，结果表明该方法可容易地模拟典型工况的双机吊装过程。

由于双机的协同策略已嵌入基本动作的实现，因此，在典型双机吊装中该方法吊装过程仿真更准确、仿真操作更简便。

此外，该方法将两台起重机和被吊物看成一个完整的复杂系统称为双机系统），该概念为双机协同吊装的其它研究提供了一个全新的视角。

4.提出了一种基于正向运动学的双机吊装仿真通用方法。

首先从静力学的角度探究双机吊装中起升系统部分的运动学规律，利用最小势能原理将起升系统部分的运动学抽象为带约束的数学优化问题，提出基于最小势能原理的起升绳偏摆角及起升力求解算法，通过与ADAMS仿真结果对比验证了求解算法的正确性。

然后在此基础上设计了基于正向运动学的双机吊装仿真通用方法。

最后通过实例验证方法的可用性和有效性，结果表明该方法是一种设计和预演双机吊装过程的有效手段。

相比现有基于动力学的双机吊装仿真方法，该方法仅需被吊物的重心相对位置及重量即可准确求得吊装过程中被吊物位姿及起升力，为双机吊装仿真提供有力的支撑，可容易地嵌入吊装仿真软件中，实现实时的双机吊装作业仿真，具有参数少、实时等特点。

关键词: 履带式起重机；结构设计; 三维建模AbstractThis article describes the historical background of the development of domestic crawler cranes, crawler cranes overall analysis of the structure and operation characteristics, focusing on the important parameters related data crawler cranes, hook design, the overall hydraulic decency, track wheel. In this paper, the original crawler crane experimental analysis, and then complete the existing crawler crane mechanism and structural design optimization based on experimental results. The new crawler crane to the original mechanical transmission hydraulic transmission mode; crawler structure used so cranes can adapt to different terrain conditions, to facilitate the work.In this paper, crawler crane 3D modeling analysis, the overall structure is analyzed and improved using a hydraulic device, it can be well used in mechanical engineering.Engineering practice lifting program design still remain in the traditional mode, manually checking mode selection sling, crane selection by referring to the performance table, the use of conventional two-dimensional drawing software AutoCAD and other design lifting processes. This traditional design approach relies heavily on the designer's experience, require multiple iterations, long design cycles, not fully before lifting, visualize dynamic lifting process.In this context, computer-aided design lifting (CALPAD) technology emerged. Among them, the crane can quickly select the appropriate selection of the crane, and hoisting path planning and simulation can be intuitive and quick lifting process design and preview. However, by comparing the project needs and existing research found that: the application of a wide range oflattice boom crawler cranes less selection; single lifting crane walking path planning is not considered; less simulation of dual-lifting, the conventional method many parameters to be set and it is difficult to determine. Since most existing research projects lack of consideration of certain constraints, So that it is difficult to apply to real actual hoisting.In this paper, crane under multiple constraints intelligent selection, consider walking path planning lifting single, dual lifting three simulation research and implement the appropriate software, theoretical results and software form has been successfully applied to the actual hoisting. The main research work are as follows:1.Shows the multiple constraints crane selection algorithm for mobile crane. First, we constructed a mathematical model of multiple crane selection constraints, based on this selection gives the overall framework of the algorithm, then lattice boom crawler crane for example detail the algorithm performance lifting frame, hanging objects and arm spacing, ground pressure constraint implementation process Finally, an example to verify the availability and effectiveness of the algorithm. Compared with the existing selection algorithm, the algorithm will be technically complex three-dimensional spatial distance computation problem into a two-dimensional geometry calculations, reducing the spacing constraint difficult to deal with; the algorithm because no crane was lifting three-dimensional modeling objects in the application more convenient.2. The proposed consider walking a single crawler crane hoisting path planning algorithm. First planning mathematical modeling and design based on RRT-Connect ++ lifting path planning algorithm, gives the definition of the configuration space, the distance measure between two shaped expression, crawler cranes nonholonomic kinematic constraints, and finally availability and performance through three simulation verification algorithm, the resultsshow that the algorithm can be found in a variety of complex environments without lifting overload, collision-free path feasible. Algorithm nonholonomic kinematic constraint crawler crane walking into the algorithm to make the path more natural, smooth. In addition, where the distance metric length dimensions and angle dimension subtly unify better expression lifting path length, and the distance measure gives intuitive physical meaning, avoid setting the weighting factor for each component.3. The proposed based on dual-lifting collaborative simulation geometry of space constraints. For typical simulation for dual-hoisting hoisting working condition, collaborative research between the two planes, designed dual-lifting collaborative simulation model are given expression and design of the basic operation of the dual system. Examples of the availability and effectiveness of the verification by simulation method, the results show that this method can be easily simulated dual-lifting process typical operating conditions. Since the cooperative strategy is embedded dual machine to achieve the basic operation, therefore, in a typical dual-lifting in the lifting process simulation method is more accurate simulation easier to use. In addition, the method of two cranes and hanging objects as a whole complex system called dual system), the concept of Double other aircraft Cooperative hoisting provides a fresh perspective.4. Proposes a forward kinematics of the double ceiling mount Common Simulation Method. First, from the point of view of statics inquiry Duplex Lifting lifting system from the kinematics law section, the principle of minimum potential energy will play a part of the lifting system kinematics abstract as a constrained mathematical optimization problem, since the principle of minimum potential energy of hoisting ropes yaw angle and lift from the algorithm, with the ADAMS simulation results verify the correctness of the algorithm. Then on the basis of the forward kinematics design doubleceiling mount Common Simulation Method. Finally, the availability and effectiveness of the verification method for instance, the results show that the method is an effective means to design and preview dual-lifting process. Compared to conventional dual-based dynamics simulation hoisting method, which only needs to be the center of gravity relative to the position and weight of the hanging objects can be accurately determined during the lifting posture and hanging objects from the lift for lifting dual-emulation provided strong support, can be easily embedded hoisting simulation software for real-time dual-lifting operation simulation, with less parameters, real-time characteristics.Key words: Crawler Crane；The Structure Design；Three Modeling目录第一章国内外发展现状 (2)1.1国外履带式起重机发展现状 (2)1.1.1 利勃海尔公司 (2)1.1.2 特雷克斯德马格公司 (2)1.1.3 马尼托瓦克公司 (2)1.2 国内履带式起重机发展现状 (3)1.3 履带起重机的发展趋势 (3)第二章履带式起重机的重要参数 (5)2.1 起重量Q (5)2.2 工作幅度R和有效幅度A (5)2.3 起重力矩M (5)2.4 起升高度H (6)2.5 工作速度V (6)第三章吊钩的参数设计 (8)3.1 吊钩的结构设计 (8)3.2 吊钩的类型及其选择类型 (9)3.3 吊钩尺寸的设计计算 (10)第四章发动机的选择及其发动机发热条件 (13)4.1 发动机的选择及发热条件 (13)第五章履带式起重机液压系统 (14)5.1液压系统整体介绍 (16)5.2 整体的性能分析 (16)5.3 液压传动总结 (17)第六章履带式起重机操作注意事项 (18)第七章基于Solidworks软件进行的建模及装配 (22)7.1 Solidworks软件建模与装配概述 (22)7.2 运用Solidworks软件进行零件设计 (22)7.3 运用Solidworks软件进行零件装配 (25)第八章结论与展望 (26)8.1 结论 (26)8.2 展望 (27)参考文献 (28)致谢 (29)第一章国内外发展现状起重机是指在一定范围内垂直提升和水平搬运重物的机械设备。