液压挖掘机工作装置的力学性能分析
|
摘要
工作装置是液压挖掘机的主要构件,其结构是否合理将直接影响到液压挖掘机的工作性能,而有限元方法作为一种非常实用、可靠的结构分析方法,能够快速、准确地计算出构件的受力和变形情况。本文以洛阳一拖神通公司生产的WLY 3.5-70型液压挖掘机为研究对象,利用大型有限元分析软件ANSYS对其工作装置进行建模并进行了强度、变形和模态分析。本文主要将就以下几方面进行阐述:
1.利用ANSYS软件分别建立工作装置三个组成部件(动臂、斗杆和铲斗)各自的实体模型,针对三种典型工况,将三组成部件合并归档,得到相应的工作装置整体三维模型,再根据实际情况确定所用单元的类型和材料属性,然后进行网格划分,得到三种工况下工作装置整体三维有限元模型。
2.根据三种典型工况下的受力情况,对工作装置施加边界约束和载荷,求解后得到相应的应力、位移云图。应力的最大值主要分布于不同部件相铰接的部位,如斗杆与动臂连接处、斗杆液压缸支座处及动臂与动臂液压缸相连接的轴套处等,这是因为在铰接处出现了局部应力集中现象,可以通过改变铰接处的局部尺寸来减小应力集中。
3.在三种典型工况下,对工作装置进行有限元模态分析,得到系统前14阶的固有频率和振型。工况一和工况二的第8、11、13阶振型以及工况三的第8、9、10阶振型最大位移位置出现异常,说明在这些振型所对应的频率下,最大位移处易发生破坏,可以通过增加板厚或者增设加强筋来增强结构的整体刚度。
The working equipment is the main components of a hydraulic excavator. The reasonability of the structure will directly affect the working performance of the hydraulic excavator. As a very practical and reliable way of structure analysis, the finite element method can quickly and accurately get the stresses and the displacements of the structural parts. Taking the WLY3.5-70 backhoe hydraulic excavator made of Luoyang Yituo Shentong Machinery Limited Company for example, the stiffness, deformation and modal analysis about the working equipment will be carried on in this study by using the finite element software ANSYS. The following aspects will be described in this paper:
1. The solid modeling of the three parts of the working equipment (the boom, the arm and the bucket) is established by using the finite element software ANSYS. Merge the three parts according to three kinds of typical working conditions, the 3-D model of the whole working equipment is established. Then determine the element type and the material properties according to the actual situation. After dividing the model into finite elements, the 3-D finite element model of the whole working equipment under three kinds of typical working condition is established.
2. Impose boundary constraints and loads to the working equipment according to the force situation of the three kinds of typical working conditions. The corresponding stress and displacement contour diagrams are obtained after calculation. The maximum value of the stress mainly distributed in the articulated parts, for example the conjunction areas of arm and boom, the bearing of the arm cylinder, the sleeve of the boom cylinder and boom. It is because of the local stress concentration of the conjunction areas. We can reduce the stress concentration by changing the local dimension of the conjunction areas.
3. The finite element modal analysis is performed to the working equipment under three kinds of typical working conditions. The natural frequencies and mode shapes of the first 14-order are obtained. The vibration mode of the 8-order, 11-order, 13-order under condition 1 and condition 2 is abnormal, the 8-order, 9-order, 10-order under condition 3 have the same problem. This shows that it is prone to damage at the place where the maximum displacement occurred. The overall stiffness of the structure can be enhanced by increasing the board thickness and adding the stiffened plate.
1.利用ANSYS软件分别建立工作装置三个组成部件(动臂、斗杆和铲斗)各自的实体模型,针对三种典型工况,将三组成部件合并归档,得到相应的工作装置整体三维模型,再根据实际情况确定所用单元的类型和材料属性,然后进行网格划分,得到三种工况下工作装置整体三维有限元模型。
2.根据三种典型工况下的受力情况,对工作装置施加边界约束和载荷,求解后得到相应的应力、位移云图。应力的最大值主要分布于不同部件相铰接的部位,如斗杆与动臂连接处、斗杆液压缸支座处及动臂与动臂液压缸相连接的轴套处等,这是因为在铰接处出现了局部应力集中现象,可以通过改变铰接处的局部尺寸来减小应力集中。
3.在三种典型工况下,对工作装置进行有限元模态分析,得到系统前14阶的固有频率和振型。工况一和工况二的第8、11、13阶振型以及工况三的第8、9、10阶振型最大位移位置出现异常,说明在这些振型所对应的频率下,最大位移处易发生破坏,可以通过增加板厚或者增设加强筋来增强结构的整体刚度。
The working equipment is the main components of a hydraulic excavator. The reasonability of the structure will directly affect the working performance of the hydraulic excavator. As a very practical and reliable way of structure analysis, the finite element method can quickly and accurately get the stresses and the displacements of the structural parts. Taking the WLY3.5-70 backhoe hydraulic excavator made of Luoyang Yituo Shentong Machinery Limited Company for example, the stiffness, deformation and modal analysis about the working equipment will be carried on in this study by using the finite element software ANSYS. The following aspects will be described in this paper:
1. The solid modeling of the three parts of the working equipment (the boom, the arm and the bucket) is established by using the finite element software ANSYS. Merge the three parts according to three kinds of typical working conditions, the 3-D model of the whole working equipment is established. Then determine the element type and the material properties according to the actual situation. After dividing the model into finite elements, the 3-D finite element model of the whole working equipment under three kinds of typical working condition is established.
2. Impose boundary constraints and loads to the working equipment according to the force situation of the three kinds of typical working conditions. The corresponding stress and displacement contour diagrams are obtained after calculation. The maximum value of the stress mainly distributed in the articulated parts, for example the conjunction areas of arm and boom, the bearing of the arm cylinder, the sleeve of the boom cylinder and boom. It is because of the local stress concentration of the conjunction areas. We can reduce the stress concentration by changing the local dimension of the conjunction areas.
3. The finite element modal analysis is performed to the working equipment under three kinds of typical working conditions. The natural frequencies and mode shapes of the first 14-order are obtained. The vibration mode of the 8-order, 11-order, 13-order under condition 1 and condition 2 is abnormal, the 8-order, 9-order, 10-order under condition 3 have the same problem. This shows that it is prone to damage at the place where the maximum displacement occurred. The overall stiffness of the structure can be enhanced by increasing the board thickness and adding the stiffened plate.
引文
[1]张宏,张箭.国内外小型挖掘机发展综述[J].工程机械.2007,38:48-51.
[2] Jack Roberts.Mini Excavators[J]. Equipment World Magazine,2005,87-91.
[3]丁仲毅.东方红-WY22LC液压挖掘机工作装置有限元析[D].江苏:江苏理工大学硕士学位论文,2000,2.
[4]荣洪均.液压挖掘机反铲工作装置整机理论复合挖掘力的计算模型及其应用研究[D].重庆:重庆大学硕士学位论文,2007,4.
[5]程商.国外挖掘机目前水平及发展动向[M].农机市场.2004(5):32-33.
[6]陈正利.中国挖掘机行业当前面临的机遇和挑战[J].工程机械与维修.2006,1.
[7]曹善华.单斗挖掘机[M].北京:机械工业出版社.1988.
[8]黄东胜,邱斌.现代挖掘机械[M].北京:人民交通出版社,2003:5-7.
[9] WLY3.5-70型挖掘机说明书.洛阳一拖神通机械有限公司,2007.
[10]丁华,朱茂桃,赵剡水.液压挖掘机动臂的有限元分析[J].中国公路学报,2003,10:118-120.
[11]郭立新,王守春,郑春歧等.液压反铲挖掘机工作装置有限元动态分析[J].中国机械工程.2000,11(12):1338-1340.
[12]王勖成.有限单元法[M].北京:清华大学出版社,2003.
[13]崔国华,张艳伟,张英爽.土方机械工作装置整体结构的强度分析方法[J].农业工程学报.2008,1:157-161.
[14]付玲.推土机平衡梁高精度有限元分析及试验研究[J].工程机械. 1998, 40(9): 13-15.
[15]龙驭球,龙志飞.新型有限元论[M].北京:清华大学出版社,2004.
[16]王冒成,邵敏.有限单元法基本原理和数值方法[M].北京:清华大学出版社(第2版),2000.
[17] Improved Techniques for Dynamic Analysis of Earth Moving Equipment[M]. SAE 740425.
[18]江见鲸,何放龙,何益斌等.有限元法及其应用[M].北京:机械工业出版社,2006,8.
[19]傅永华,有限元分析基础[M].武汉:武汉大学出版社,2003.8.
[20]王焕定,焦兆平.有限单元法基础[M].北京:高等教育出版社,2002,8.
[21]商跃进.有限元原理与ANSYS应用指南[M].北京:清华大学出版社,2005.
[22]陈孝珍,弹性力学与有限元[M].郑州:郑州大学出版社,2007,8.
[23]徐芝纶,弹性力学简明教程[M].北京:高等教育出版社,2002,8.
[24]署恒木,仝兴华.工程有限单元法[M].北京:中国石油大学出版社,2002,8.
[25] K.K.Gupta Finite Dynamic element formulation for a Plane triangle e1ement Int.J.Num.metie.EngVol 14.[M].No.10,1979.
[26]董建勋.重型液压挖掘机铲斗和斗杆的有限元分析及传动杆的形状优化设计[D].太原:太原理工大学硕士学位论文,1999.3.
[27]邵蕴秋.ANSYS8.0有限元分析实例导航[M].北京:中国铁道出版社,2004:67-68.
[28]王家禾.重整反应扇形管有限元简化模型的建立与分析[J].石油化工高等学校学报.2006,19(4):72—75.
[29]王志利,韩刚,马卫东.基于实体特征的有限元结构分析[J].建筑机械.2003,4: 31-33.
[30]朱红妹,卫少克,刘钊.液压挖掘机挖掘工况与挖掘力分布特性分析[J].机电设备.2007,8:9-12.
[31]同济大学.单斗液压挖掘机[M].北京:中国建筑工业出版社,1986.
[32] Tomi Makkonen,Kelervo Nevala,Rauno Heikkila.A 3D model based control of an excavator[J].Automation in Construction,2006,571-577.
[33] GUO Lixin,ZHANG Guozhong,WANG Bangfeng.Dynamic Analysis on Placing Boom System of Truck Concrete Pump[M].Wen B C.Proceedings of ICVE’98.Shenyang:Northeastern University Press,1998,148-152.
[34]陈龙,王锦雯,薛念文等.农用三轮运输车车架强度分析及节材研究[J].农业工程学报.1999,15(2):134-138.
[35]张祖立,邵悦.秸秆挤压膨化机锥形螺杆应力的三维有限元分析[J].农业工程学报.2006,22(10):126-129.
[36]张朝晖,ANSYS8.0结构分析及实例解析[M].北京:机械工业出版社,2005,3.
[37]王宏伟.液压挖掘机斗杆结构优化方法研究[D].浙江:浙江大学硕士学位论文,2000,2.
[38]武思宇,罗伟.ANSYS工程计算应用教程[M].北京:中国铁道出版社,2004:106-107.
[39]陈进,吴俊,李维波等.大型液压正铲挖掘机工作装置有限元分析及应力测试[J].中国工程机械学报.2007,4:198-203.
[40]李丹,周志鸿,刘瑞华.基于ANSYS液压挖掘机动臂的有限元分析[J].建筑机械.2008,4: 74-78.
[41]邓子龙,高财禄,付越.挖掘机铲斗强度分析[J].辽宁石油化工大学学报.2007,12:45-50.
[42]于硕,张建宗,孔吉吉.液压挖掘机动臂的有限元分析[J].工程机械.2002,8-1.
[43]金小亮.挖掘机的挖掘阻力辨别与结构模态分析[D].上海:上海交通大学硕士论文,1987.01.
[44]曹树谦,张文德,萧龙翔.振动结构模态分析:理论、实验与应用[M].天津大学出版社.2001.
[45]蒋红旗,王繁生.起重机吊臂结构有限元模态分析[J].农业机械学报.2006,3.
[46]伍利群,吴万荣. Pro/E在液压挖掘机动态性能分析中的应用[J].机械研究与应用.2007,12:83-84.
[47]张万山.挖掘机工作装置的有限元分析[D].辽宁:辽宁工程技术大学硕士学位论文,2007,3.
[48]彭武良.机械式挖掘机工作装置的动力学研究[D].辽宁:东北大学硕士学位论文,1999,1.
[49] R.D.B1evins.Formulas for Natural Frequency and Mode Shape[M].Van Nostrand Reinhold.Co.NewYork.NY. 1979.
[50]刘本学.液压挖掘机反铲装置的有限元分析[D].陕西:长安大学硕士学位论文,2003.
[51]张方瑞.ANSYS8.0应用基础与实例教程[M].北京:电子工业出版社,2006,9.
[52]方建军,刘仕良.机械动态仿真与工程分析[M].北京:化学工业出版社,2004.
[53]杨为,王家序,秦大同.液压挖掘机工作装置固有频率的试验灵敏度[J].农业机械学报.2006,37(2):21-24.
[54] Eugeniusz Budny . Load—independent control of a hydraulic excavator[J]. Automation in Construction,2003,12(3):245-254.
[55]杜文靖,王国强,崔国华.液压挖掘机工作装置铰点轴和轴套间隙计算模型[J].农业机械学报.2007,38(8):38-40.
[2] Jack Roberts.Mini Excavators[J]. Equipment World Magazine,2005,87-91.
[3]丁仲毅.东方红-WY22LC液压挖掘机工作装置有限元析[D].江苏:江苏理工大学硕士学位论文,2000,2.
[4]荣洪均.液压挖掘机反铲工作装置整机理论复合挖掘力的计算模型及其应用研究[D].重庆:重庆大学硕士学位论文,2007,4.
[5]程商.国外挖掘机目前水平及发展动向[M].农机市场.2004(5):32-33.
[6]陈正利.中国挖掘机行业当前面临的机遇和挑战[J].工程机械与维修.2006,1.
[7]曹善华.单斗挖掘机[M].北京:机械工业出版社.1988.
[8]黄东胜,邱斌.现代挖掘机械[M].北京:人民交通出版社,2003:5-7.
[9] WLY3.5-70型挖掘机说明书.洛阳一拖神通机械有限公司,2007.
[10]丁华,朱茂桃,赵剡水.液压挖掘机动臂的有限元分析[J].中国公路学报,2003,10:118-120.
[11]郭立新,王守春,郑春歧等.液压反铲挖掘机工作装置有限元动态分析[J].中国机械工程.2000,11(12):1338-1340.
[12]王勖成.有限单元法[M].北京:清华大学出版社,2003.
[13]崔国华,张艳伟,张英爽.土方机械工作装置整体结构的强度分析方法[J].农业工程学报.2008,1:157-161.
[14]付玲.推土机平衡梁高精度有限元分析及试验研究[J].工程机械. 1998, 40(9): 13-15.
[15]龙驭球,龙志飞.新型有限元论[M].北京:清华大学出版社,2004.
[16]王冒成,邵敏.有限单元法基本原理和数值方法[M].北京:清华大学出版社(第2版),2000.
[17] Improved Techniques for Dynamic Analysis of Earth Moving Equipment[M]. SAE 740425.
[18]江见鲸,何放龙,何益斌等.有限元法及其应用[M].北京:机械工业出版社,2006,8.
[19]傅永华,有限元分析基础[M].武汉:武汉大学出版社,2003.8.
[20]王焕定,焦兆平.有限单元法基础[M].北京:高等教育出版社,2002,8.
[21]商跃进.有限元原理与ANSYS应用指南[M].北京:清华大学出版社,2005.
[22]陈孝珍,弹性力学与有限元[M].郑州:郑州大学出版社,2007,8.
[23]徐芝纶,弹性力学简明教程[M].北京:高等教育出版社,2002,8.
[24]署恒木,仝兴华.工程有限单元法[M].北京:中国石油大学出版社,2002,8.
[25] K.K.Gupta Finite Dynamic element formulation for a Plane triangle e1ement Int.J.Num.metie.EngVol 14.[M].No.10,1979.
[26]董建勋.重型液压挖掘机铲斗和斗杆的有限元分析及传动杆的形状优化设计[D].太原:太原理工大学硕士学位论文,1999.3.
[27]邵蕴秋.ANSYS8.0有限元分析实例导航[M].北京:中国铁道出版社,2004:67-68.
[28]王家禾.重整反应扇形管有限元简化模型的建立与分析[J].石油化工高等学校学报.2006,19(4):72—75.
[29]王志利,韩刚,马卫东.基于实体特征的有限元结构分析[J].建筑机械.2003,4: 31-33.
[30]朱红妹,卫少克,刘钊.液压挖掘机挖掘工况与挖掘力分布特性分析[J].机电设备.2007,8:9-12.
[31]同济大学.单斗液压挖掘机[M].北京:中国建筑工业出版社,1986.
[32] Tomi Makkonen,Kelervo Nevala,Rauno Heikkila.A 3D model based control of an excavator[J].Automation in Construction,2006,571-577.
[33] GUO Lixin,ZHANG Guozhong,WANG Bangfeng.Dynamic Analysis on Placing Boom System of Truck Concrete Pump[M].Wen B C.Proceedings of ICVE’98.Shenyang:Northeastern University Press,1998,148-152.
[34]陈龙,王锦雯,薛念文等.农用三轮运输车车架强度分析及节材研究[J].农业工程学报.1999,15(2):134-138.
[35]张祖立,邵悦.秸秆挤压膨化机锥形螺杆应力的三维有限元分析[J].农业工程学报.2006,22(10):126-129.
[36]张朝晖,ANSYS8.0结构分析及实例解析[M].北京:机械工业出版社,2005,3.
[37]王宏伟.液压挖掘机斗杆结构优化方法研究[D].浙江:浙江大学硕士学位论文,2000,2.
[38]武思宇,罗伟.ANSYS工程计算应用教程[M].北京:中国铁道出版社,2004:106-107.
[39]陈进,吴俊,李维波等.大型液压正铲挖掘机工作装置有限元分析及应力测试[J].中国工程机械学报.2007,4:198-203.
[40]李丹,周志鸿,刘瑞华.基于ANSYS液压挖掘机动臂的有限元分析[J].建筑机械.2008,4: 74-78.
[41]邓子龙,高财禄,付越.挖掘机铲斗强度分析[J].辽宁石油化工大学学报.2007,12:45-50.
[42]于硕,张建宗,孔吉吉.液压挖掘机动臂的有限元分析[J].工程机械.2002,8-1.
[43]金小亮.挖掘机的挖掘阻力辨别与结构模态分析[D].上海:上海交通大学硕士论文,1987.01.
[44]曹树谦,张文德,萧龙翔.振动结构模态分析:理论、实验与应用[M].天津大学出版社.2001.
[45]蒋红旗,王繁生.起重机吊臂结构有限元模态分析[J].农业机械学报.2006,3.
[46]伍利群,吴万荣. Pro/E在液压挖掘机动态性能分析中的应用[J].机械研究与应用.2007,12:83-84.
[47]张万山.挖掘机工作装置的有限元分析[D].辽宁:辽宁工程技术大学硕士学位论文,2007,3.
[48]彭武良.机械式挖掘机工作装置的动力学研究[D].辽宁:东北大学硕士学位论文,1999,1.
[49] R.D.B1evins.Formulas for Natural Frequency and Mode Shape[M].Van Nostrand Reinhold.Co.NewYork.NY. 1979.
[50]刘本学.液压挖掘机反铲装置的有限元分析[D].陕西:长安大学硕士学位论文,2003.
[51]张方瑞.ANSYS8.0应用基础与实例教程[M].北京:电子工业出版社,2006,9.
[52]方建军,刘仕良.机械动态仿真与工程分析[M].北京:化学工业出版社,2004.
[53]杨为,王家序,秦大同.液压挖掘机工作装置固有频率的试验灵敏度[J].农业机械学报.2006,37(2):21-24.
[54] Eugeniusz Budny . Load—independent control of a hydraulic excavator[J]. Automation in Construction,2003,12(3):245-254.
[55]杜文靖,王国强,崔国华.液压挖掘机工作装置铰点轴和轴套间隙计算模型[J].农业机械学报.2007,38(8):38-40.