液压挖掘机工作装置动力学特性的研究

发布时间：2018-03-07 23:17

本文选题：挖掘机　切入点：工作装置　出处：《太原科技大学》2013年硕士论文　论文类型：学位论文

【摘要】：液压挖掘机作为一种工程建筑机械的重要机种，是进行土石方开挖的主要机械设备，在现代工程建设中起着举足轻重的作用。液压挖掘机工作性能的优劣主要是由其工作装置决定的。反铲挖掘机是通过三组液压缸单独或复合动作对工作装置进行驱动，进而实现物料的挖掘及输送。在其运动过程中所承受的载荷较为复杂，特别是一些铰接点部位，由于设计制造和或使用不当，还会出现断裂现象，给企业带来不必要的经济损失。故对液压挖掘机工作过程进行动力学仿真及分析具有重要意义。此外，，随着科学技术的不断发展液压传动技术也不断提高，在对现有挖掘机的研究中不得不考虑液压系统在挖掘机工作中的影响，如何提高挖掘机控制精度与改进液压系统的特性已成我国液压挖掘机发展过程中亟待解决的问题。在此背景下，本课题以某型号液压挖掘机反铲工作装置为原型，对整个工作循环中工作装置的铰接点受力变化规律展开研究。本文首先通过对挖掘机行业发展现状及国内外研究情况进行系统阐述，分析了挖掘机的发展趋势。然后根据反铲挖掘机的工作原理，运用D-H齐次坐标变换法完成了挖掘机工作装置运动学建模；运用拉格朗日动力学方程对挖掘机工作装置进行动力学建模；对工作装置理论挖掘力以及挖掘阻力分别进行了分析研究。之后又根据工作装置的实际结构尺寸，使用三维建模软件Pro/E建立虚拟样机模型，并将其导入ADAMS环境中，并进行运动学与动力学仿真，通过模拟挖掘机的一个工作循环，得到各铰接点所受载荷与时间的关系。最后通过研究挖掘机工作装置液压回路系统，建立了挖掘机工作装置机液一体化系统模型。在此基础上，通过对挖掘时动臂举升过程中的机械系统与液压系统的联合仿真，得到在液压系统影响下的挖掘机工作装置机械系统的响应状况，分析了液压系统与相应机械系统的互动响应特性，得到了选定仿真工况下的工作装置动力学特性。研究表明，运用此种方法对液压挖掘机工作装置进行的仿真分析，能够在一定程度上避免设计错误，明显缩短设计周期，为挖掘机工作装置的设计提供了新的依据和方法。
[Abstract]:As an important type of construction machinery, hydraulic excavator is the main mechanical equipment for excavation of earth and rock. It plays an important role in modern engineering construction. The performance of hydraulic excavator is mainly determined by its working device. The backhoe excavator drives the working device by three groups of hydraulic cylinder acting alone or compound. Then the material is excavated and transported. In the course of its movement, the load is more complicated, especially in some hinged points, because of the improper design and manufacture or use, there will also appear the phenomenon of fracture. It is of great significance to simulate and analyze the working process of hydraulic excavator. In addition, with the development of science and technology, the hydraulic transmission technology has been improved. The influence of hydraulic system on the work of excavator has to be considered in the research of existing excavators. How to improve the control accuracy and the characteristics of hydraulic system has become an urgent problem to be solved in the development of hydraulic excavators in China. Under this background, this subject takes a type of hydraulic excavator backshovel working device as the prototype, In this paper, the stress change law of the joint point of the working device in the whole working cycle is studied. Firstly, the development status of the excavator industry and the research situation at home and abroad are systematically described in this paper. The development trend of excavator is analyzed. According to the working principle of backhoe excavator, the kinematics modeling of excavator working device is completed by using D-H homogeneous coordinate transformation method. The dynamic modeling of excavator working device is carried out by using Lagrange dynamic equation, and the theoretical excavating force and excavating resistance are analyzed and studied respectively. Then, according to the actual structure size of the working device, the excavating force and the excavating resistance are analyzed and studied respectively. The virtual prototype model is built by using 3D modeling software Pro/E, and it is introduced into the ADAMS environment. The simulation of kinematics and dynamics is carried out, and a working cycle of the excavator is simulated. The relationship between load and time at each joint point is obtained. Finally, the hydraulic circuit system of excavator working device is studied, and the model of hydraulic integration system of excavator working device is established. Through the joint simulation of the mechanical system and the hydraulic system during the lifting process of the moving arm during excavation, the response of the mechanical system of the excavator working device under the influence of the hydraulic system is obtained. The interactive response characteristics of hydraulic system and corresponding mechanical system are analyzed, and the dynamic characteristics of the working device under selected simulation conditions are obtained. The research shows that the simulation analysis of hydraulic excavator working device by this method can avoid the design mistakes to some extent and shorten the design cycle obviously, which provides a new basis and method for the design of the excavator working device.
【学位授予单位】：太原科技大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：TU621

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