【作者】 潘柳萍；

【导师】 徐克林；

【作者基本信息】 同济大学 ， 机械电子工程， 2006， 博士

【摘要】 本论文来源于上海市教育委员会重点学科资助项目“液压同步连续提升(下降)机器人技术研究”~*。在大型构件同步升降的工程中，变间歇式升降方式为连续式，可缩短作业时间，提高生产效率，保证大型构件以较恒定的速度升降，改善在此过程中构件的受力状况，避免间歇式运作时的停顿，消除大型构件因频繁启停产生的附加惯性载荷和冲击，使施工的安全可靠性进一步得到保证。此课题的研究成果对于提高液压整体提升技术的总体水平，增强我国在该技术应用领域内的竞争力，有着十分重要的现实意义。 论文综合了国内外大型构件整体液压提升方面的文献和工程实践，以间歇式液压提升器为基础，首先从运动学、动力学角度对连续式液压提升器实现连续升降的机理进行了深入的研究。指出间歇式提升器在负载转换时，由于结构和控制的原因不可避免地存在着停顿和下降过程中的复杂动作；连续式提升器有两个主液压缸，利用两者的速度差，靠计算机控制技术实现不停顿的负载转移，同时可减少下降过程中的操作环节，从而进一步提高工作效率和安全可靠性。 连续式液压提升器由上、下穿心式主液压缸和各自的锚具机构组成。其中，项锚机构的脱锚方式和主液压缸与锚具液压缸活塞杆之间的安装定位方法至关重要。将锚具结构设计成锚片加套筒式改善了锚片的受力状况，有利于锚片均匀脱离锚环；锚具液压缸活塞杆利用定位销和卡键与主液压缸固定，克服了螺纹联接定位不准确、容易松动的缺点。本文用有限元方法对两个重要的承载零件锚环和顶板进行了强度和刚度的设计，利用APDL开发的宏文件不但可以完成复杂结构的建模，还可以对主要尺寸进行调整。 负载转换行程ΔL的大小对主液压缸的工作性能——速度稳定性和有效行程利用率有很大的影响。当主液压缸总行程一定时，负载转换的速度差与负载转换行程之间相互约束。运用多目标函数的最优化方法，以提升速度稳定和提高有效行程长度为双重目标，在优先保证前者重要性的前提下，协调两者数量级关系，用加权组合法得出了实用的运动参数和结构参数的最佳值。 有效的控制策略左右着连续提升方法的实现。电液比例调速系统能完成升更多还原

【Abstract】 This dissertation comes from the distinguished discipline supported by Shanghai Education Committee, which is called "Hydraulic Synchronous Successive Lifting and Lowering Robot Technique Research". * In the engineering of oversize structure lifting and lowering, substituting successive lifting technology for intermittent one is necessary to shorten working hours and improve production efficiency, ensure the structure lifting with a invariable working speed and ameliorate its forced status, to avoid a halt and eliminate accessional inertia loads along with impacts because of frequent startup and stop. So the technique has made the process of constructing more safe and reliable. The research fruits could enhance general level in hydraulic lifting technique and boost up competition ability in international markets. No doubt it is really of realistic meaning.The work presented in this paper focuses on several aspects as follows: Mechanism of successive movement, Design of the key mechanical structure, Choice of optimization parameter, Control tactic and algorithms as well as Test result analyses.Having synthetically analyzed a great deal of literature and engineering practices in domestic and overseas unitary hydraulic lifting field, based on the intermittent lifting device, the movement mechanism of successive lifting is thoroughly studied from the point of dynamics and kinematics view. During the load transferred process there are inevitably intermission and complex motion of descending in intermittent situation on account of structure and control. However the successive device is mainly composed of twain lifting hydraulic cylinders. By the speed difference between them and control tactic, the load is transferred one another continuously and simultaneously. So successive lifting device has cut down operating steps and has improved work efficiency and security reliability.Twain hollow main hydraulic cylinders with each anchor assembly constitute更多还原