【作者】 张浩；

【导师】 赵京；

【作者基本信息】 北京工业大学 ， 机械工程， 2020， 硕士

【摘要】 目前,国内外单一功能的通用属具与适用特定作业的专用属具较多,而具有复杂多变作业能力的多功能属具较少。基于工程实际需求,对工程机械的属具进行研究分析。基于最优化、有限元分析等设计方法,制作了一款多功能工程属具样机。该设备具有破碎混凝土、剪断钢筋和夹持搬运废墟三种基本功能。主要具体研究内容如下:首先,对常用属具类型进行分析,确定集成功能类型;提出了三种设计方案;对机械结构复杂度、整机可靠性及稳定性及体积尺寸等多方面进行评价,并确定了最优方案。其次,对设计方案的功能转换、破碎水泥、剪切钢筋与夹持搬运等方面进行了分析;通过对机械机构进行运动学、静力学分析,建立了多种指标,如力效益、工作空间及零件尺寸等;利用NSGA-Ⅱ算法进行了优化分析。再次,建立了有限元模型;以属具的力学分析结果,确定零部件的极限载荷;校核了结构的静应力、应变及疲劳强度等;进行形状优化设计降低整机重量;绘制了零部件加工图纸,制作了物理样机。最后,根据运动控制需求,设计了液压油路;以破拆混凝土与剪切钢筋的工作任务需求进行了液压缸及配套设施选型;搭建以树莓派为上位机、单片机作为下位机的控制系统,并进行了属具样机的装配、调试与功能验证测试。更多还原

【Abstract】 At present,there are more single-function generic accessories and special accessories that are suitable for specific work at home and abroad,while there are fewer multi-functional ones that are capable of complex and changeable work.Based on the actual demand of engineering,research and analysis are carried out on the accessories of construction machinery.Based on the optimization,finite element analysis and other modern design methods,a multifunctional prototype and its supporting control and hydraulic system are trial-produced.The equipment has three basic functions: crushing concrete,cutting steel and holding and carrying debris.The main research contents are as follows:Firstly,the commonly used types of generic tools are analyzed to determine the types of integration functions.Three design schemes are put forward.The complexity of mechanical structure,reliability and stability of the whole machine and its size are evaluated,and the optimal scheme is determined.Secondly,the functional conversion,crushing cement,shear steel and gripper handling of the design scheme are analyzed.Through the kinematics and statics analysis of the mechanical mechanism,a variety of indicators,such as force efficiency,working space and part size,are established.Using the NSGA-Ⅱ algorithm is optimized analysis.Thirdly,the finite element model is established.The ultimate load of parts is determined based on the results of mechanical analysis.The static stress,strain and fatigue strength of the structure are checked,and the shape optimization design is carried out to reduce the weight of the machine.The parts processing drawings are drawn and the physical prototype is made.Finally,according to the demand of motion control,the hydraulic oil circuit is designed.The hydraulic cylinder and its supporting facilities are selected according to the task requirements of breaking concrete and shear steel.The control system with raspberry PI as the upper computer and MCU as the lower computer was built,and the assembly,debugging and functional verification tests of the prototype.更多还原