挖掘机工作装置的斗齿仿生及动臂优化研究

发布时间：2018-04-03 05:27

本文选题：挖掘机　切入点：工作装置　出处：《吉林大学》2013年硕士论文

【摘要】：随着国家经济快速发展，国家增加了对能源开发、国防设施以及基础建设的投入，对工程机械产品的需求量变得越来越大。挖掘机是一种应用广泛的多功能的工程机械，其主要施工设备即工作装置的性能影响整个挖掘机的作业性能。优化挖掘机工作装置，提高挖掘机的整机工作性能，对于国民经济和工程机械的发展具有重要的意义。挖掘机的工作装置主要包括：斗齿、动臂、斗杆、铲斗，其中斗齿的构型影响其挖掘性能。动臂的尺寸参数影响挖掘机作业范围。本文以典型反铲液压挖掘机的工作装置为原型，结合本实验室仿生斗齿研究成果，在对典型反铲液压挖掘机工作装置进行运动学和动力学分析的基础上，采用虚拟样机技术模拟设计出与其相应的虚拟工作装置；而后将传统型挖掘机工作装置与仿生斗齿研究成果进行整合，基于ADAMS优化设计了工作装置的动臂，扩大了工作装置的作业范围，显著提高了挖掘性能，从而提高了整机作业性能。本文首先对工作装置的运动学和动力学做了理论分析，而后应用Pro/E软件对仿生斗齿及反铲液压挖掘机整体进行了三维建模；通过中间格式将其导入到ADAMS软件中，对创建的虚拟模型进行了运动学和动力学分析，获取了反铲液压挖掘机工作装置的最大挖掘半径、最大挖掘高度、最大挖掘深度、最大卸荷高度、最小回转半径等作业范围参数，得到装载有仿生斗齿的反铲液压挖掘机工作装置的斗杆最大挖掘力和铲斗最大挖掘力。在上述研究的基础上，通过改变工作装置动臂的尺寸参数，，包括将动臂外侧线与中线的夹角由67°分别改为65°和70°以及将动臂弯曲处的圆弧半径由200mm分别改为210mm和190mm，并对其进行了两两组合；利用ADAMS进行仿真测试，得出了包括工作范围参数和最大挖掘力等8组数据，并将其与之前动臂尺寸未变的工作装置的测量数据进行对比，得出了外侧线与中线夹角65°、动臂弯曲处的圆弧半径210mm这一最优方案。通过对原型机的试验研究，得到反铲液压挖掘机工作范围参数及其工作装置的最大挖掘力。试验结果与基于ADAMS优化后结果的对比分析表明，基于ADAMS的优化显著提高了挖掘机工作装置的挖掘性能。研究结果为设计挖掘性能更加优良的反铲液压挖掘机工作装置提供基础数据和技术手段。
[Abstract]:With the rapid development of national economy, the country has increased the investment in energy development, national defense facilities and infrastructure, and the demand for construction machinery products has become more and more.Excavator is a kind of widely used multifunctional construction machinery. The performance of its main construction equipment, that is, the working device, affects the working performance of the whole excavator.It is of great significance for the development of national economy and construction machinery to optimize the working equipment of excavator and improve the working performance of excavator.The working device of excavator mainly includes: bucket tooth, moving arm, bucket rod and bucket, in which the configuration of bucket tooth affects its excavating performance.The dimension parameters of the arm affect the working range of the excavator.Based on the prototype of typical backhoe hydraulic excavator and the research results of bionic bucket teeth in our laboratory, the kinematics and dynamics analysis of typical backhoe hydraulic excavator is carried out in this paper.Virtual prototype technology is used to simulate and design the corresponding virtual working device, and then the traditional excavator working device is integrated with the bionic bucket tooth research results, and the working arm is optimized based on ADAMS.The working range of the working device is enlarged, and the mining performance is improved significantly, thus the performance of the whole machine is improved.In this paper, the kinematics and dynamics of the working device are analyzed theoretically, and then the 3D modeling of the bionic bucket tooth and backhoe hydraulic excavator is carried out by using Pro/E software, which is introduced into the ADAMS software through the intermediate format.The kinematics and dynamics analysis of the virtual model is carried out, and the maximum excavation radius, maximum excavation height, maximum excavation depth, maximum unloading height of the working device of the backhoe hydraulic excavator are obtained.The maximum excavating force of the bucket rod and the maximum excavating force of the bucket are obtained by using the parameters of the minimum radius of rotation and other operating range parameters, which are loaded with bionic bucket teeth and the working device of the hydraulic excavator.On the basis of the above research, by changing the dimension parameters of the working arm,Including changing the angle between the lateral line of the arm and the center line from 67 掳to 65 掳and 70 掳, respectively, and changing the radius of the arc of the arm bend from 200mm to 210mm and 190mm respectively, and combining it in two pairs. The simulation test is carried out by ADAMS.Eight groups of data, including working range parameters and maximum excavation force, are obtained, and compared with the measured data of the working device with no change in the size of the front arm.The optimum scheme of the angle between the lateral line and the center line and the arc radius 210mm at the bend of the arm is obtained.The working range parameters of backhoe hydraulic excavator and the maximum excavating force of the working device are obtained through the experimental study of the prototype machine.The comparison between the experimental results and the optimized results based on ADAMS shows that the optimization based on ADAMS can significantly improve the excavating performance of the excavator working device.The results provide basic data and technical means for the design of backhoe hydraulic excavator with better excavating performance.
【学位授予单位】：吉林大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：TU621

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