基于ADAMS的液压挖掘机工作装置仿真与优化
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摘要
液压挖掘机作为一种重要的工程机械,它在现代化建设中发挥着越来越重要的作用。而作为挖掘机基本动作的主要执行者,挖掘机工作装置设计结构的合理性,使用的可靠性以及操作的方便性也越来越受到市场的关注,因此对于挖掘机的工作装置进行相关的研究是十分必要的。
传统的产品设计开发流程中,由于设计开发周期长、设计需要的成本高、对产品的潜在问题无法预测,这种传统的方法已无法适应竞争激烈的市场需求,因此,采用目前广泛应用的高效、多功能的虚拟样机技术指导挖掘机工作装置的研究有很大的必要性。
本文以三维建模软件UG和虚拟仿真软件ADAMS为依托,以斗容量为0.28m3的某小型挖掘机为设计原型,首先在UG里建立了工作装置的三维模型,再通过软件接口的导入技术,在ADAMS中通过添加相关约束和负载,建立了工作装置进行仿真的虚拟样机;然后在此基础上进行了运动学和动力学分析,得到了挖掘机工作范围的主要参数和各铰接点力各液压缸力的变化曲线,为后续的分析奠定了基础;并运用ADAMS的专用优化模块对工作装置的铲斗连杆机构进行了设计研究和优化分析,通过对相关坐标点位置的参数优化分析设计,使铲斗机构在结构发生微小变化的情况下,传动比却得到了很大的提高;最后利用ADAMS/Hydraulics液压模块对工作装置铲斗机构进行了液压系统的建模和机液一体化的联合仿真,并对液压系统的一些参数进行了优化,获得了一定范围内的最优稳定传动。
As an important Engineering machinery,hydraulic excavator is playing a more and more important role in the modernization, working device as the main actor of excavator‘s basic movements, its reasonable designing, reliable usability, convenient manipulation are more and more concerned by the market.Therefore, the research for working device of excavator is necessary.
Because of the longer designing cycle, higher costs, harder prediction for product’s potential problems, the traditional product’s designing and development process has been unable to adapt to the competitive market. Therefore, using the efficient, multi-functional virtual prototype to guide the research of excavator’s working device is more necessary. In this paper,we make the mini excavator whose bucket capacity is 0.28m3 as the design prototype, firstly we established a working device model by using the three-dimensional modeling software UG, then by adding related restraints and loads,we established virtual prototype model in the virtual simulation software ADAMS; secondly, through doing Kinematics and dynamics analysis on the established virtual prototype model, we achieved main parameters of the excavator’s working scope and the curves of force of hinge point ; in the third , through optimizing bucket linkage mechanism, the transmission ratio of shovel mechanism had been greatly improved; finally, we established virtual prototypical model of Shovel mechanism’s hydraulic system, and carried out simulation on mechanical-hydraulic system of the working device by using ADAMS / Hydraulics module, through optimizing some corresponding parameters of the hydraulic system based on the result of simulation, we achieved very stable transmission in certain range.
传统的产品设计开发流程中,由于设计开发周期长、设计需要的成本高、对产品的潜在问题无法预测,这种传统的方法已无法适应竞争激烈的市场需求,因此,采用目前广泛应用的高效、多功能的虚拟样机技术指导挖掘机工作装置的研究有很大的必要性。
本文以三维建模软件UG和虚拟仿真软件ADAMS为依托,以斗容量为0.28m3的某小型挖掘机为设计原型,首先在UG里建立了工作装置的三维模型,再通过软件接口的导入技术,在ADAMS中通过添加相关约束和负载,建立了工作装置进行仿真的虚拟样机;然后在此基础上进行了运动学和动力学分析,得到了挖掘机工作范围的主要参数和各铰接点力各液压缸力的变化曲线,为后续的分析奠定了基础;并运用ADAMS的专用优化模块对工作装置的铲斗连杆机构进行了设计研究和优化分析,通过对相关坐标点位置的参数优化分析设计,使铲斗机构在结构发生微小变化的情况下,传动比却得到了很大的提高;最后利用ADAMS/Hydraulics液压模块对工作装置铲斗机构进行了液压系统的建模和机液一体化的联合仿真,并对液压系统的一些参数进行了优化,获得了一定范围内的最优稳定传动。
As an important Engineering machinery,hydraulic excavator is playing a more and more important role in the modernization, working device as the main actor of excavator‘s basic movements, its reasonable designing, reliable usability, convenient manipulation are more and more concerned by the market.Therefore, the research for working device of excavator is necessary.
Because of the longer designing cycle, higher costs, harder prediction for product’s potential problems, the traditional product’s designing and development process has been unable to adapt to the competitive market. Therefore, using the efficient, multi-functional virtual prototype to guide the research of excavator’s working device is more necessary. In this paper,we make the mini excavator whose bucket capacity is 0.28m3 as the design prototype, firstly we established a working device model by using the three-dimensional modeling software UG, then by adding related restraints and loads,we established virtual prototype model in the virtual simulation software ADAMS; secondly, through doing Kinematics and dynamics analysis on the established virtual prototype model, we achieved main parameters of the excavator’s working scope and the curves of force of hinge point ; in the third , through optimizing bucket linkage mechanism, the transmission ratio of shovel mechanism had been greatly improved; finally, we established virtual prototypical model of Shovel mechanism’s hydraulic system, and carried out simulation on mechanical-hydraulic system of the working device by using ADAMS / Hydraulics module, through optimizing some corresponding parameters of the hydraulic system based on the result of simulation, we achieved very stable transmission in certain range.
引文
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[2]王雷.挖掘机市场分析[J].工程机械文摘,2007,(6):13-15
[3]张卫国.液压挖掘机工作装置动力学仿真分析及研究[硕士学位论文].山西:太原理工大学,2010,5
[4]赵显东.加速我国液压挖掘机发展的几点建议[J].建筑机械,1997,(3):24-27
[5]陈正利.我国液压挖掘机发展的儿个重要阶段及前景展望[J].建筑机械,1999 (1):17-23
[6]宋培林.虚拟模型:机械工程的一门新兴技术.美国机械动力学公司(Mechanical Dynamics Inc.), 1999
[7]盛伯浩.产品虚拟开发技术[J].中国机械工程,1998,9(11): 67-68
[8]姜士湖,闰相祯.虚拟样机技术及其在国内的应用前景[J].机械,2003,30(2): 4-6
[9]李孝明.中国小型挖掘机市场及其发展趋势和预测[J].建设机械技术与管理,2006,19(7):56-58
[10]苏丽萍.迷你挖掘机[J].建筑机械,2006,10:54-58
[11]王国强,张进平,马若丁等.虚拟样机技术及其在ADAMS上的实践[M].西安:西北工业大学出版社,2001
[12]李思昆,郭阳.面向并行设计的虚拟原型技术研究[J].计算机辅助设计与图形学学报,1999, 11(3):241-243
[13]李瑞涛,方湄,张文明.虚拟样机技术的概念及应用[J].金属矿山,2000,(7): 38-40
[14]杨彦龙.液压挖掘机工作装置的虚拟样机仿真分析[硕士学位论文].河北:河北工业大学,2007.12
[15] Ryken, Michael J, Vance, Judy M .Applying virtual reality techniques to the interactive stress analysis of a tractor lift arm. Finite Elements in Analysis and Design, 2000,35(2):141-155
[16] Weyrich,Michael,Drews,Pau1. Interactive environment for virtual manufacturing: The virtual workbench.Computers in Industry,1999,38(1): 5-15
[17] Andert,E.P,Jr,Morgan,D. Collaborative virtual prototyping and test. Naval Engineers Journa1,1998,110(6):17-23
[18] Bruns,F. Wilhelm. Integrated real and virtual prototyping. Industrial Electronics Conference, 1998,4:2137-2142
[19]胡雄伟.液压挖掘机反铲装置的力学性能分析与优化研究[硕士学位论文].长沙:中南大学,2009,5
[20]申承均,刘晓娟,盛力伟.虚拟样机技术研究进展及发展趋势[[J].农机化研究,2008, (8): 234-236
[21] Zorriassatine F, Wykes C. A survey of virtual prototyping techniques for mechanical product development[J]. Engineering Manufacture, 2003, 217(8):513-530
[22] Yin Z-P, Ding H, Xiong Y L. A virtual prototyping approach to generation and evaluation of mechanical assembly sequences[J]. Engineering Manufacture, 2004,218(8): 87-102
[23] Josehs Lombardo, Edward Malakscott, Rsborne. Collaborative Virtual Prototyping[J]. Johns Hopkins APL Technical Digest, 1996, 17(3): 295-304
[24]李瑞涛,方湄,张文明.虚拟样机技术及其在矿山机械领域的应用展望[J].矿山机械,2000, 28(5):11-12
[25]刘正华,尔联洁.三轴高精度虚拟仿真转台研究[J].系统仿真学报,2003,15(11):1613-1617
[26]丁国富,卫华.铁路机车车辆虚拟样机工程[C].中国铁道学会车辆委员会2004年度铁路机车车辆动态仿真学术会议论文集,2004,(5): 257-259
[27]曾良才,周云根.液压系统虚拟样机设计平台的研究[J].湖北工学院学报,2003,18(2): 123-125
[28]王侃,杨秀梅.虚拟样机技术综述[J].新技术新工艺,2008,(3):29-33
[29]郑建荣.ADAMS虚拟样机技术入门与提高[M].北京:机械工业出版社,2001
[30] Kosugi A, Kohmoto T, Taji T. Hydraulic Excavator Boom And Arm Strength Evaluation Method[J]. R&D, Research and Development (Kobe Steel, Ltd), 1981, 31(2):71-76
[31] Imelda Cotton. BRADKEN BUILDING[J]. Australia's Mining Monthly, 2006, 7:122
[32] Srdan Bosnjak, Zoran Petkovic, Nenad Zrnic. Cracks, repair and reconstruction of bucket wheel excavator dewing platform[J]. Engineering failure analysis, 2009, 16(5): 1631-1642
[33] Tadeusz Smolnicki, Damian Derlukiewicz, Mariusz Stanco. Evaluation of load distribution in the superstructure rotation joint of single-bucket caterpillar excavators[J]. Automation in Construction, 2008, 17(3): 218-223
[34] DiMaio,S.P, Salcudean,S.E, Reboulet,C. Virtual excavator for controller development and evaluation.Proceedings-IEEE International Conference on Robotics and automation,1998,1:52-58
[35] Haga,M, Hiroshi,W, Fujishima,K. Digging control system for hydraulic excavator. Mechatronics,2001,11(6): 665-676
[36] Imanishi, Etsujiro, Nanjo,Takao, Hiroka, Eiko. Dynamic simulation of flexible multibody system with the hydraulic drive. Nippon Kikai Gakkai Ronbunshu C,2003,69(9):2336-2343
[37]王瑞金,曹敏.液压挖掘机工作装置三缸联动时的运动分析[J].工程设计,1999,2:45-50
[38]赵家宏.液压挖掘机反铲装置的优化设计[J].建筑机械.1996,10:9-13
[39]车仁炜,吕广明,陆念力.液压挖掘机工作装置的动力学分析及仿真[J].机械传动.2005,29(2):25-27
[40] XUE Caijun, QIU Qingying, FENG Peien. Test and optimization of static and dynamical characters for excavator. KISSIMMEE, FLORIDA: A Conference on Structural Dynamics, 2003. 772-777.
[41]冯培恩,潘双夏,丁国富.挖掘机器人虚拟样机技术的实现策略[J].农业机械学报2002,21(4):58-60
[42]邵忍平,黄欣娜,杨振平.单斗液压挖掘机工作装置优化设计[J].机械设计,1995,10: 53-56
[43]方良周,刘得方,刘欣等.改进得遗传算法在MX80液压挖掘机优化中的运用[J].机械科学与技术,1999,(5)
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