WK35挖掘机最优挖掘轨迹设计和随机振动分析
发布时间：2019-02-12 06:47
【摘要】：挖掘轨迹的优劣,直接影响着挖掘机的性能和生产效率。大型矿用挖掘机的运行环境、载荷特点具有很强的随机性和不确定性,主要表现：挖掘的土壤性质呈随机性,挖掘机工作的边界条件具有不确定性,操作的随机性和挖掘过程是不可逆的物理过程等几个方面,是解决设计的源头问题,是建立自己设计体系和挖掘理论的依据,所以列为国家863子课题(2012AA062001)进行研究。而斗杆部件的随机振动也关系着斗杆部件的工作时的稳定性,疲劳和寿命。因此,挖掘轨迹和斗杆部件随机振动问题都是重要的研究内容。如何找到挖掘机优化的挖掘轨迹,探究斗杆部件的振动规律,对提高挖掘机的工作性能,有着非常现实的意义和理论意义。以WK35型号挖掘机为代表,以其现场剥离挖掘测试的数据为基础,建立工作机构运动学模型,以测试数据的286个样本中工作周期为45秒的17个样本和33秒的13个样本为计算条件,还原出离散的斗尖运动轨迹点,并计算每个样本在挖掘过程中所有的速度与力能参数,并存入指定的表格中。然后根据出斗时斗内土壤体积符合斗容要求,挖掘时间合理以及斗内土壤单位体积能耗最小为依据,筛选出同时符合该三个判据的样本,45秒样本有6个,33秒样本有4个。最终绘制出两组共10个样本的实际轨迹,根据轨迹的形状与位置对经过筛选的样本进行重整与分组,最终分别得到3条最优轨迹：45秒的样本组两条最优轨迹分别为ρ=11.16e03375θ和ρ=11.30e0.276θ；33秒样本1条最优轨迹为ρ=11.018e0.245θ。针对大型挖掘机工作时斗杆部件的随机振动问题,以受到随机因素的激励和系统的参数本身就是随机的情况,建立动力响应的模型,计算出动力响应。为实现规范、准确、快捷的实现计算挖掘机工作过程中重要参数和最优挖掘轨迹设计开发了软件系统。软件系统可计算出切向与法向挖掘阻力,消耗能量,后角,物料体积等过程量以及具有代表性的最优轨迹的功能,同时可以绘制曲线与存储中间与最终计算结果的功能,达到提高工作效率和缩短设计周期的目的。
[Abstract]:The advantages and disadvantages of excavating track directly affect the performance and production efficiency of excavator. In the operating environment of large excavator, the load characteristic has strong randomness and uncertainty, which mainly shows that the soil property of excavator is random, and the boundary condition of excavator work is uncertain. The randomness of operation and the mining process are irreversible physical processes, which are the source of the design and the basis for the establishment of our own design system and mining theory, so it is listed as the National 863 Subproject (2012AA062001) for research. The random vibration of bucket member also relates to the stability, fatigue and life of bucket member. Therefore, the excavation trajectory and the random vibration of bucket bar are important research contents. How to find the optimal excavator track and explore the vibration law of bucket rod parts is of great practical and theoretical significance to improve the working performance of excavator. The kinematics model of working mechanism is established on the basis of the data of WK35 excavator, and the kinematics model of working mechanism is established. The calculation conditions are 17 samples with work cycle of 45 seconds and 13 samples with 33 seconds of test data. The discrete trajectory points of bucket tip motion are restored and all the velocity and force energy parameters of each sample are calculated and stored in a specified table. Then, according to the requirement of bucket volume, reasonable excavation time and minimum energy consumption per unit volume of soil in the bucket, the samples which accord with the three criteria were screened out, 6 samples in 45 seconds and 4 samples in 33 seconds. Finally, the actual tracks of two groups of 10 samples are drawn, and the selected samples are regrouped and grouped according to the shape and position of the trajectory. Finally, three optimal trajectories are obtained: 蟻 = inf trillion 胃 and 蟻 = 11.30e0.276 胃 for the sample set of 45 seconds; The optimal trajectory of 33 second sample is 蟻 = 11.018e0.245 胃. In order to solve the problem of random vibration of bucket bar components in large excavators, the dynamic response model is established and the dynamic response is calculated in the light of the random excitation and the random parameters of the system. The software system is developed to realize the standard, accurate and fast calculation of the important parameters and the optimal excavation trajectory design in the working process of the excavator. The software system can calculate the process quantities of tangential and normal mining resistance, energy consumption, back angle, material volume, and the function of representative optimal trajectory. At the same time, it can draw curves and store the intermediate and final calculation results. To achieve the purpose of improving working efficiency and shortening the design cycle.
【学位授予单位】：东北大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TU621
本文编号：2420159
[Abstract]:The advantages and disadvantages of excavating track directly affect the performance and production efficiency of excavator. In the operating environment of large excavator, the load characteristic has strong randomness and uncertainty, which mainly shows that the soil property of excavator is random, and the boundary condition of excavator work is uncertain. The randomness of operation and the mining process are irreversible physical processes, which are the source of the design and the basis for the establishment of our own design system and mining theory, so it is listed as the National 863 Subproject (2012AA062001) for research. The random vibration of bucket member also relates to the stability, fatigue and life of bucket member. Therefore, the excavation trajectory and the random vibration of bucket bar are important research contents. How to find the optimal excavator track and explore the vibration law of bucket rod parts is of great practical and theoretical significance to improve the working performance of excavator. The kinematics model of working mechanism is established on the basis of the data of WK35 excavator, and the kinematics model of working mechanism is established. The calculation conditions are 17 samples with work cycle of 45 seconds and 13 samples with 33 seconds of test data. The discrete trajectory points of bucket tip motion are restored and all the velocity and force energy parameters of each sample are calculated and stored in a specified table. Then, according to the requirement of bucket volume, reasonable excavation time and minimum energy consumption per unit volume of soil in the bucket, the samples which accord with the three criteria were screened out, 6 samples in 45 seconds and 4 samples in 33 seconds. Finally, the actual tracks of two groups of 10 samples are drawn, and the selected samples are regrouped and grouped according to the shape and position of the trajectory. Finally, three optimal trajectories are obtained: 蟻 = inf trillion 胃 and 蟻 = 11.30e0.276 胃 for the sample set of 45 seconds; The optimal trajectory of 33 second sample is 蟻 = 11.018e0.245 胃. In order to solve the problem of random vibration of bucket bar components in large excavators, the dynamic response model is established and the dynamic response is calculated in the light of the random excitation and the random parameters of the system. The software system is developed to realize the standard, accurate and fast calculation of the important parameters and the optimal excavation trajectory design in the working process of the excavator. The software system can calculate the process quantities of tangential and normal mining resistance, energy consumption, back angle, material volume, and the function of representative optimal trajectory. At the same time, it can draw curves and store the intermediate and final calculation results. To achieve the purpose of improving working efficiency and shortening the design cycle.
【学位授予单位】：东北大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TU621
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