基于虚拟样机技术的矿用掘进机行走减速器仿真研究
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摘要
应用虚拟样机技术这一种崭新的产品开发方法,可以在制造物理样机之前通过虚拟样机来方便地修改设计。采用虚拟样机代替物理样机对产品进行创新设计、测试和评估,可以缩短产品开发周期,降低产品开发成本,改进产品设计质量,提高面向客户与市场需求的能力,并加快新技术向新产品的转化。虚拟样机技术的应用己成为机械行业在产品设计中的发展方向。
本论文以某企业矿用掘进机行走减速器为研究对象,利用三维造型软件UG、虚拟样机分析软件ADAMS、RecurDyn以及有限元分析软件ANSYS,对掘进机行走减速器进行了实体建模、动态仿真和有限元分析。本论文基于虚拟样机技术,结合CAD/CAE软件,在矿用减速器的仿真分析方面,做了如下工作:
1.掘进机行走减速器的实体模型的构建。基于三维设计软件UG的建模功能精确构建了齿轮的三维模型以及其他零件如:轴(齿轮轴)、轴承、箱体等,并通过UG的装配模块,实现了行走减速器的虚拟装配和干涉分析。
2.构建了减速器虚拟样机模型。将UG模型通过Parasolid数据格式导入到ADAMS中。在ADAMS中,添加系统约束、载荷以及驱动,建立了虚拟样机模型,并通过对样机的运动学仿真对样机进行了验证。
3.掘进机简化模型的行驶仿真。基于韩国动力学分析软件RecurDyn,建立了掘进机的简化模型,并对简化模型在三种工矿下进行了的行驶仿真,通过行驶仿真,得到了链轮的转矩。
4.对减速器进行动力学仿真。结合虚拟样机模型以及由RecurDyn软件仿真得出的转矩,对减速器进行了仿真分析,研究了减速器的各级速度和轮齿啮合力等。
5.对减速器关键部件进行有限元分析。在有限元分析软件ANSYS软件中,施加由ADAMS中测出的受力情况,对减速器中的行星架进行了结构有限元分析和动力学分析,并校核了其各项性能。
Using the technology of virtual prototyping, which is a bran-new product developing technology, we can modify the design expediently before the physical prototype is produced. Using the technology of Virtual Prototype becomes the developing direction of mechanical trade in the course of product design. Replace the physical prototype with virtual Prototype of a machine andinnovate design、test and assess the products, it can shorten development periodof products, reduce the cost of development products, improve the designing quality of the products, improve the ability facing the customer and marketdemand, also can accelerate the transformation of new technologies to new products.
This thesis regards mine roadheader's travelling reducer as the research object, using the three-dimensional design software UG、analytical software of Virtual Prototype ADAMS & RecurDyn and FEA software ANSYS, carries on entity's modeling and simulation to the reducer. In this thesis, with virtual prototyping technology, the simulation analysis of mine reducer is implemented based on CAD/CAE software.
1. The 3-D model of the roadheader's travelling reducer is built. The gear and other components such as shaft(gear shaft)、bearings and gear box are built with the modeling module of the UG software. A virtual assembly and the interference analysis of the reducer are work out through the assembly module of UG.
2. A virtual prototype model of reducer is constructed. The UG model will be transformed into ADAMS through the format of Parasolid. A virtual prototype model is built after system constraints, load and drive are added in ADAMS. The verification of prototype model is implemented through kinematic simulation in ADAMS.
3. The running simulation of the simplified model of roadheader are done. Simplified model of roadheader is built based on the Korean dynamic simulation software RecurDyn. The running simulation under three different working conditions are done in this software, and through the running simulation the torque of the sprockets wheel are obtained.
4. The dynamics simulation of reducer is done. The dynamic simulation of the virtual prototype of the reducer is done combining with the virtual prototype and the torque of the sprocket wheel in ADAMS. The angular velocity and meshing forces are studied.
5. The finite element analysis for the key part of the reducer is done. The FEA static and dynamics analysis of the planetary carrier of reducer is made by the FEA software ANSYS based on the boundary conditions from ADAMS, and several characteristics are tested either.
本论文以某企业矿用掘进机行走减速器为研究对象,利用三维造型软件UG、虚拟样机分析软件ADAMS、RecurDyn以及有限元分析软件ANSYS,对掘进机行走减速器进行了实体建模、动态仿真和有限元分析。本论文基于虚拟样机技术,结合CAD/CAE软件,在矿用减速器的仿真分析方面,做了如下工作:
1.掘进机行走减速器的实体模型的构建。基于三维设计软件UG的建模功能精确构建了齿轮的三维模型以及其他零件如:轴(齿轮轴)、轴承、箱体等,并通过UG的装配模块,实现了行走减速器的虚拟装配和干涉分析。
2.构建了减速器虚拟样机模型。将UG模型通过Parasolid数据格式导入到ADAMS中。在ADAMS中,添加系统约束、载荷以及驱动,建立了虚拟样机模型,并通过对样机的运动学仿真对样机进行了验证。
3.掘进机简化模型的行驶仿真。基于韩国动力学分析软件RecurDyn,建立了掘进机的简化模型,并对简化模型在三种工矿下进行了的行驶仿真,通过行驶仿真,得到了链轮的转矩。
4.对减速器进行动力学仿真。结合虚拟样机模型以及由RecurDyn软件仿真得出的转矩,对减速器进行了仿真分析,研究了减速器的各级速度和轮齿啮合力等。
5.对减速器关键部件进行有限元分析。在有限元分析软件ANSYS软件中,施加由ADAMS中测出的受力情况,对减速器中的行星架进行了结构有限元分析和动力学分析,并校核了其各项性能。
Using the technology of virtual prototyping, which is a bran-new product developing technology, we can modify the design expediently before the physical prototype is produced. Using the technology of Virtual Prototype becomes the developing direction of mechanical trade in the course of product design. Replace the physical prototype with virtual Prototype of a machine andinnovate design、test and assess the products, it can shorten development periodof products, reduce the cost of development products, improve the designing quality of the products, improve the ability facing the customer and marketdemand, also can accelerate the transformation of new technologies to new products.
This thesis regards mine roadheader's travelling reducer as the research object, using the three-dimensional design software UG、analytical software of Virtual Prototype ADAMS & RecurDyn and FEA software ANSYS, carries on entity's modeling and simulation to the reducer. In this thesis, with virtual prototyping technology, the simulation analysis of mine reducer is implemented based on CAD/CAE software.
1. The 3-D model of the roadheader's travelling reducer is built. The gear and other components such as shaft(gear shaft)、bearings and gear box are built with the modeling module of the UG software. A virtual assembly and the interference analysis of the reducer are work out through the assembly module of UG.
2. A virtual prototype model of reducer is constructed. The UG model will be transformed into ADAMS through the format of Parasolid. A virtual prototype model is built after system constraints, load and drive are added in ADAMS. The verification of prototype model is implemented through kinematic simulation in ADAMS.
3. The running simulation of the simplified model of roadheader are done. Simplified model of roadheader is built based on the Korean dynamic simulation software RecurDyn. The running simulation under three different working conditions are done in this software, and through the running simulation the torque of the sprockets wheel are obtained.
4. The dynamics simulation of reducer is done. The dynamic simulation of the virtual prototype of the reducer is done combining with the virtual prototype and the torque of the sprocket wheel in ADAMS. The angular velocity and meshing forces are studied.
5. The finite element analysis for the key part of the reducer is done. The FEA static and dynamics analysis of the planetary carrier of reducer is made by the FEA software ANSYS based on the boundary conditions from ADAMS, and several characteristics are tested either.
引文
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[26]余国权.基于CATIA和ADAMS的减速器参数化设计及仿真[D].大连理工大学硕士学位论文.2007.
[27]崔新涛.基于虚拟样机技术的变速器动力学仿真研究[D].天津大学硕士学位论文.2004.
[28]宋小欣.变速箱齿轮啮合动力学的数字仿真[J].同济大学学报.2001,29(12):1503-1506.
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[31]Zheng Xiaoxi.Sun Guozheng.Wang Shaomei.Design and Study of a Virtual Prototyping System.Jonrnal of Wuhan University of Technology[J],2004,28(5):786-790.
[32]王国强,张进平等.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,2002.
[33]韩翔.基于UG的2K-H行星减速器计算机辅助设计[D].西南交通大学硕士学位论文,2004.
[34]崔清斌、吴大林等.基于ADAMS的齿轮传动系统动态特性仿真[J].军械工程学院学报.2004,16(5):9-12.
[35]邹怀武、石端伟.基于虚拟样机技术的减速器动力学建模与仿真[J].水利电力机械.2003,(2):41-44.
[36]S.H.Choi,A.M.M.Chan:A virtual prototyping system for rapid product development,COMPUTER-AIDED DESIGN[J].2004,36:401-412.
[37]Zahed Siddique and David W Rosen:A virtual prototyping approach to product disassembly reasoning[J].2004,29(12):847-860.
[38]Gianni Ferretti,GianAntonio Magnani,Paolo Pocco:Virtual prototyping of mechatronic systems,Annual Review in Control[J].2004,28:193-200.
[39]洪清泉,程颖.基于ADAMS的多级齿轮传动系统动力学仿真[J].北京理工大学学报.2003,23(6):690-693.
[40]李润方,王建军.齿轮系统动力学[M].北京:科学出版社,1996.
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[42]Kara Kuutti,Katja Battarbee,Simo Sade.Virtual prototypes in usability testing.Proceedings of the 34″,Hawaii International Conference on System Sciences,IEEE 2001.
[43]熊光楞,李伯虎,柴旭东.虚拟样机技术[J].系统仿真学报,2001,12(1):114-117.
[44]Clemens August,SIM-VR:Interactive Crash Simulation[J].Simulation and Visualization on the Grid.New York:Springer,1999.
[45]赵丽娟,陈令国,刘红梅.矿用减速器行星架的有限元分析[J].煤矿机械.2007,(1):51-52.
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[2]张展.齿轮减速器现状及发展趋势[J].水利电力机械,2001,(2):58-59.
[3]乐美豪.中国齿轮制造业50年[J].机电产品市场,2000,(6):9-12.
[4]成大先.机械设计手册[M].北京:化学工业出版社,2004.
[5]邢印成,王凤林,郭滨.掘进机的发展[J].煤炭技术,2005,24(5):24-26.
[6]郑轶,宁汝新,刘检华.虚拟装配关键技术及其发展[J].系统仿真学报.2006,3(18):649-654.
[7]孙江宏,黄小龙.齿轮减速器虚拟装配及其有关技术问题[J].现代制造工程,2003,10(11):37-38.
[8]徐东升等.UG NX3.0中文版标准实例教程[M].北京:机械工业出版社.2006.
[9]Kahraman K.Planetary gear train dynamics[J].Journal of Mechanical Design,1994,116(9):712-720.
[10]冯丽.减速器三维参数化建模及其性能分析研究[D].武汉理工大学硕士学位论文.2005.
[11]李增刚.Adams入门详解与实例[M].北京:国防工业出版社,2006.
[12]王艳芳.摆动活齿减速器虚拟样机建模及性能仿真研究[D].山东大学硕士学位论文.2005.
[13]Jianming Yang,Ce Zhang.Elasto-dynarnics of intemal gear planetary transmissions [J].Mechanism and Machine Theory 40(2005)1107-1125.
[14]王彩梅.行星摆线针轮减速机虚拟样机的建造与性能仿真[D].中国农业大学硕士学位论文.2001.
[15]陈福向,王晓笋.基于ADAMS的变速器虚拟样机仿真分析[J].制冷空调与电力机械,2006(6):74-76.
[16]陈卫平,张云清,任卫群等.机械系统动力学分析及ADAMS应用教程[M].北京:清华大学出版社,2005.
[17]Yunhong Meng,Changlin Wu,Liping Ling.Mathematical modeling of the transmission performance of 2K-H pin cycloid planetary mechanism[J].Mechanism and Machine Theory.42(2007):776-790.
[18]华顺刚等.基于ADAMS的减速器虚拟样机建模及动力学仿真[J].机械设计与研究,2006(12):41-52.
[19]黄宁.基于虚拟样机技术的小型甘蔗收获机行走系统的运动仿真分析[D].广西大学学位论文.2005.
[20]A.Bajer,L.Demkowicz.Dynamic contact/impact problems,energyconservation,and planetary gear trains[J].Comput.Methods Appl.Mech.Engrg.191(2002):4159-4191.
[21]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.
[22]王国强等.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,2002(3).
[23]杜秀菊,王兴贵.基于行驶仿真试验的行星减速机动力学仿真[J].机械传动.2006(1):4-9.
[24]孙国顺.用UG NX3.0仿真技术研究减速器[J].煤矿机电.2006(5):45-46.
[25]何胜勇.行星摆线针轮减速机虚拟样机的建造与有限元分析[D].中国农业大学硕士学位论文.2002.
[26]余国权.基于CATIA和ADAMS的减速器参数化设计及仿真[D].大连理工大学硕士学位论文.2007.
[27]崔新涛.基于虚拟样机技术的变速器动力学仿真研究[D].天津大学硕士学位论文.2004.
[28]宋小欣.变速箱齿轮啮合动力学的数字仿真[J].同济大学学报.2001,29(12):1503-1506.
[29]Requicha A,Getal A.Representations for assemblies[M].IRIS Tech.Report.University of South California,USA:1991.
[30]Chien-Hsing Li,Integration of finite element analysis and optimum design on gear systems[J],Finite Elements in Analysis and Design 38(2002):179-192.
[31]Zheng Xiaoxi.Sun Guozheng.Wang Shaomei.Design and Study of a Virtual Prototyping System.Jonrnal of Wuhan University of Technology[J],2004,28(5):786-790.
[32]王国强,张进平等.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,2002.
[33]韩翔.基于UG的2K-H行星减速器计算机辅助设计[D].西南交通大学硕士学位论文,2004.
[34]崔清斌、吴大林等.基于ADAMS的齿轮传动系统动态特性仿真[J].军械工程学院学报.2004,16(5):9-12.
[35]邹怀武、石端伟.基于虚拟样机技术的减速器动力学建模与仿真[J].水利电力机械.2003,(2):41-44.
[36]S.H.Choi,A.M.M.Chan:A virtual prototyping system for rapid product development,COMPUTER-AIDED DESIGN[J].2004,36:401-412.
[37]Zahed Siddique and David W Rosen:A virtual prototyping approach to product disassembly reasoning[J].2004,29(12):847-860.
[38]Gianni Ferretti,GianAntonio Magnani,Paolo Pocco:Virtual prototyping of mechatronic systems,Annual Review in Control[J].2004,28:193-200.
[39]洪清泉,程颖.基于ADAMS的多级齿轮传动系统动力学仿真[J].北京理工大学学报.2003,23(6):690-693.
[40]李润方,王建军.齿轮系统动力学[M].北京:科学出版社,1996.
[41]淮良贵,纪名刚.机械设计[M].北京:高等教育出版社,2001.
[42]Kara Kuutti,Katja Battarbee,Simo Sade.Virtual prototypes in usability testing.Proceedings of the 34″,Hawaii International Conference on System Sciences,IEEE 2001.
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