液压挖掘机工作装置的动力学分析与仿真

发布时间：2018-10-22 16:17

【摘要】：随着我国经济的发展,液压挖掘机被广泛应用于桥梁建设、隧道施工、公路修建、抗震救灾、矿山开挖等场合,是土石方工程的重要机械设备之一。挖掘机的工作装置是挖掘机的重要组成部分,是进行挖掘工作的直接参与者,因此,其结构的强度、刚度、及设计的合理性,一直是设计研究人员关心的问题。传统的设计方法是根据挖掘机在几种典型工况下的最大应力和相关试验数据对挖掘机的工作装置进行强度设计和校核,然而,由于挖掘机的工作环境恶劣,挖掘过程中,工作装置承受的是随时间变化的动载荷,工作装置虽然满足一定静强度设计要求,但动强度设计是否满足要求还有待考证,所以本文以某公司生产的6吨小型挖掘机一WY6.3的工作装置为研究对象,用有限元分析软件ANSYS Workbench和动力学软件ADAMS对其进行静力学接触分析、运动学分析、模态分析、动力学分析,为挖掘机工作装置的动态设计提供参考依据。论文的研究内容如下： (1)采用D.H法构建挖掘机工作装置的运动学模型,获得了挖掘机铲斗齿尖在三维空间的运动轨迹方程,对比ADAMS仿真结果证明方程是正确的。 (2)对挖掘机的工作装置进行运动学逆解的求解,推导了工作装置铰接点处俯仰角速度与角加速度方程,并构建了挖掘机的理论挖掘力、挖掘阻力计算方程。 (3)以6吨小型挖掘机WY6.3为研究对象,对挖掘机的工作装置进行模态分析及静力学接触分析。 (4)用Pro/E构建了WY6.3工作装置的三维模型,利用ADAMS仿真出反铲挖掘机工作装置的运动包络线,获得了其工作空间参数。利用ADAMS仿真出挖掘机采用铲斗挖掘和斗杆挖掘时的理论挖掘力。 (5)根据计算获得的工作装置的切向阻力和法向阻力及物料重力,利用ADAMS仿真出工作装置在挖掘与卸载整个过程中,各铰接点在变载荷作用下的受力情况,将获得的分析结果加载到ANSYS工作装置的有限元模型中,对挖掘和卸载过程中的动臂和斗杆进行动力学分析,根据动力学分析结果,评估工作装置的刚度、强度是否满足使用要求,为挖掘机工作装置的动态设计和寿命估计提供相关的理论依据。
[Abstract]:With the development of China's economy, hydraulic excavators are widely used in bridge construction, tunnel construction, highway construction, earthquake relief, mine excavation and other occasions, is one of the important mechanical equipment of earthwork engineering. The working device of the excavator is an important part of the excavator and a direct participant in the excavating work. Therefore, the strength, stiffness and rationality of the design of the excavator structure are always concerned by the design researchers. The traditional design method is to design and check the working device of excavator according to the maximum stress of excavator under several typical working conditions and relevant test data. However, because of the poor working environment of excavator, the excavator is in the process of excavation. The working device bears the dynamic load varying with time. Although the working device meets certain static strength design requirements, whether the dynamic strength design meets the requirements has yet to be verified. So this paper takes the working device of a 6-ton minitype excavator produced by a company as the research object, uses the finite element analysis software ANSYS Workbench and the dynamics software ADAMS to carry on the static contact analysis, the kinematics analysis, the modal analysis, the dynamics analysis. It provides reference for dynamic design of excavator working device. The contents of this paper are as follows: (1) the kinematics model of excavator working device is constructed by using D.H method, and the trajectory equation of excavator bucket tooth tip in three-dimensional space is obtained. The results of ADAMS simulation show that the equation is correct. (2) the inverse kinematics solution of the working device of the excavator is solved, and the equations of pitch angle velocity and angular acceleration at the hinge point of the working device are derived. The theoretical excavating force of excavator and the calculation equation of excavating resistance are constructed. (3) the WY6.3 of 6 ton small excavator is taken as the research object. Modal analysis and static contact analysis are carried out on the working device of excavator. (4) the three-dimensional model of WY6.3 working device is constructed with Pro/E, and the motion envelope of the working device of backhoe excavator is simulated by ADAMS. The workspace parameters are obtained. The theoretical excavating force of excavator with bucket and bucket rod is simulated by ADAMS. (5) the tangential resistance, normal resistance and material gravity of the working device are obtained according to the calculation. ADAMS is used to simulate the stress of each hinge in the whole process of excavating and unloading, and the obtained analysis results are loaded into the finite element model of the ANSYS working device. The dynamic analysis of the arm and bucket rod during excavation and unloading is carried out. According to the results of the dynamic analysis, the stiffness and strength of the working device are evaluated whether or not it meets the requirements of use. It provides relevant theoretical basis for dynamic design and life estimation of excavator working device.
【学位授予单位】：兰州理工大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TU621

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