基于LCZ40型重型矿用汽车轮胎机械手的仿真分析

发布时间：2018-05-14 20:32

本文选题：轮胎机械手 + 刚柔耦合建模　；参考：《辽宁科技大学》2015年硕士论文

【摘要】：随着采矿事业的飞速发展,作为露天矿山运输的重要设备之一矿用汽车也日益向大型化发展,108吨和154吨电动轮矿用汽车越来越得到广泛的使用。由于矿用汽车轮胎外形尺寸大、重量大,因此其拆装搬运难度较大。同时,采用早前的人工方法进行轮胎的拆装,不仅拆装效率低、人工劳动强度大,而且极易造成事故的发生。因此,在矿山作业中,必须配有专用的设备,才能顺利完成大型矿用汽车轮胎的拆装工作,这种专用设备轮胎拆装机就得到广泛的应用。露天矿用汽车轮胎拆装机主要是由工作装置轮胎机械手与工程机械叉车或装载机组装而成,其功能主要用于金属矿山、非金属矿山及水电工程大型载重汽车轮胎的拆装、搬运及码垛的工作。本论文主要是以某公司的LCZ-40型重型矿山用汽车轮胎拆装机为研究对象,该型号轮胎机械手主要靠液压驱动,利用该机械手与叉车的联合作用,可以完成实现轮胎的夹持、左右平移、侧向翻转、轮胎翻转,同时可以完成整个装置的举升、前后倾等动作。首先,利用专用的三维设计软件SOLIDWORKS,依据图纸要求,完成工作装置轮胎机械手的各零部件建模。在此过程中,根据工作性能要求,进行液压缸、轮胎的简单设计与建模,然后将机械手零部件和简化模型液压缸、轮胎组装成整机模型。其次,利用SOLIDWORKS数据接口,把整机模型导入到ADAMS中完成机械手刚性系统的建立。最后,利用有限元分析软件ANSYS,把轮胎机械手中需要柔性化的三维零件生成零部件的模态中性文件;然后,在所建立的机械手刚性系统中,利用生成的模态中性文件把轮胎、液压杆刚性体零件替换成柔性体,建立轮胎机械手整机的刚柔耦合系统。在完成了刚柔耦合建模后,在软件ADAMS中对该机械手的轮胎翻转和整个工作装置侧向摆动进行运动仿真。通过比较刚性系统和刚柔耦合系统的仿真结果,验证刚柔耦合系统更加符合现实,数据更加准确。最后,由于夹盘零件的重要性,在ANSYS中完成夹盘的静强度分析和模态分析,验证夹盘的强度能很好的满足工作要求。
[Abstract]:With the rapid development of mining industry, as one of the important equipment of open-pit mine transportation, mining vehicles are increasingly developed to the large-scale development of 108-ton and 154-ton electric wheel mining vehicles are more and more widely used. Because of the large size and heavy weight of the tire, it is difficult to disassemble and assemble the tire. At the same time, the earlier manual method is not only low efficiency, labor intensity, but also easy to cause accidents. Therefore, in the mine operation, must be equipped with special equipment, in order to successfully complete the demolition and assembly of large mining vehicle tires, this kind of special equipment tire disassembly machine has been widely used. The automobile tire disassembly machine used in opencast mine is mainly composed of working device tire manipulator and construction machinery forklift truck or loader. Its function is mainly used in metal mines, non-metal mines and large truck tyres in hydropower projects, the function of which is mainly used in the disassembly and assembly of heavy truck tyres in metal mines, non-metallic mines and hydropower projects. Handling and palletizing work. This paper mainly takes the LCZ-40 heavy duty mine tire disassembly machine of a certain company as the research object. The tire manipulator of this model mainly depends on the hydraulic drive, using the combined action of the manipulator and the forklift truck, it can realize the tire clamping. Translation of left and right, lateral flip, tire flip, while the whole device can be lifted, forward and back tilt and other actions. Firstly, using the special 3D design software SOLIDWORKS, according to the drawing requirements, the modeling of the parts and components of the tire manipulator of the working device is completed. In the process, according to the performance requirements, the simple design and modeling of the hydraulic cylinder and tire are carried out, and then the manipulator parts and the simplified model hydraulic cylinder are assembled into the whole machine model. Secondly, using SOLIDWORKS data interface, the whole machine model is imported into ADAMS to complete the establishment of manipulator rigid system. Finally, using finite element analysis software ANSYS, the modal neutral files of the parts are generated from the three-dimensional parts of the tire manipulator which need flexibility. Then, in the rigid system of the manipulator, the tire is generated by using the generated modal neutral file. The rigid part of hydraulic rod is replaced with flexible body, and the rigid and flexible coupling system of tire manipulator is established. After the rigid-flexible coupling modeling is completed, the tire turnover of the manipulator and the lateral swing of the whole working device are simulated in the software ADAMS. By comparing the simulation results of rigid system and rigid-flexible coupling system, it is proved that the rigid-flexible coupling system is more realistic and the data is more accurate. Finally, due to the importance of the chuck parts, the static strength analysis and modal analysis of the chuck are completed in ANSYS to verify that the strength of the chuck can meet the requirements of the work well.
【学位授予单位】：辽宁科技大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TD50

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