装载机工作装置斗尖载荷当量模型与试验

发布时间：2018-11-13 17:46

【摘要】：为获得装载机工作装置在铲装作业过程中外载荷的时间历程,进行了载荷谱编制与疲劳台架试验,提出一种由铲斗铰接孔处载荷当量装载机工作装置铲斗斗尖载荷的计算方法。在铲斗上建立随体坐标系,通过D-H(Denavit-Hartenberg)矩阵得到铲斗随体坐标系与大地坐标系之间的转换关系,根据油缸位移确定装载机作业姿态,进而由铲斗受力模型求得固定姿态下斗尖处的当量载荷理论解;设计了销轴传感器,并进行标定试验得到销轴传感器各个方向外载荷与电桥输出电压之间的线性函数关系;建立包括销轴力、侧向力、拉杆力、动臂关注点应力、动臂油缸和铲斗油缸位移的多参数载荷同步测试系统,并进行散状物料铲装试验,得到铲斗随体坐标系下铰点销轴力、结构测点应力和油缸位移等基本载荷参数;在此基础上,以铲斗斗尖当量载荷为外载,进行了工作装置有限元分析;验证了载荷当量模型和所得结果的合理性。研究结果表明:由实测载荷参数和斗尖载荷当量模型能得到反映装载机工作装置铲斗斗尖处真实受力特性的当量载荷时间历程,且载荷当量时间历程呈明显的周期变化,大载荷出现在铲掘物料和卸载物料时刻;动臂结构测点应力的仿真值与试验实测值之间最大相对误差为9.07%,将大小和方向连续不断变化的销轴载荷当量到固定姿态下的铲斗斗尖处,为装载机工作装置载荷谱编制和疲劳试验提供依据。
[Abstract]:In order to obtain the time history of load at home and abroad during shovel operation, load spectrum compilation and fatigue test were carried out, and a method for calculating the load equivalent load on the bucket tip of loader working device at the hole of bucket hinge was put forward. In this paper, the coordinate system is established on the bucket, and the conversion relationship between the bucket coordinate system and the geodetic coordinate system is obtained by D-H (Denavit-Hartenberg) matrix, and the attitude of the loader is determined according to the displacement of the cylinder. Then the equivalent load theoretical solution at the tip of the bucket under fixed attitude is obtained from the bucket force model. The pin shaft sensor is designed, and the linear function between the external load of the pin shaft sensor and the output voltage of the bridge is obtained by calibration test. A multi-parameter load synchronizing test system including pin axial force, lateral force, pull rod force, concern stress of arm, displacement of oil cylinder and bucket cylinder is established, and the loading test of loose material shovel is carried out, and the pin axial force at hinge point is obtained in the follow-body coordinate system of bucket. Basic load parameters such as structural stress and cylinder displacement; On this basis, taking the bucket tip equivalent load as the external load, the finite element analysis of the working device is carried out, and the rationality of the load equivalent model and the obtained results is verified. The results show that the equivalent load time history can be obtained from the measured load parameters and the equivalent model of bucket tip load, and the equivalent load time history is obviously periodic. Large load occurs at the time of excavating and unloading materials; The maximum relative error between the simulated stress of the measuring point of the arm structure and the measured value of the test is 9.07. The equivalent of the pin shaft load, which is continuously changing in size and direction, is transferred to the tip of the bucket in a fixed attitude. It provides basis for load spectrum compilation and fatigue test of loader working device.
【作者单位】：长安大学道路施工技术与装备教育部重点实验室;徐工集团江苏徐州工程机械研究院;
【基金】：“十二五”国家科技支撑计划项目(2015BAF07B02) 中央高校基本科研业务费专项资金项目(310825163407,310825175009)
【分类号】：TH243

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