铜包装线升降平台机—液特性研究与优化
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摘要
本文来源于兰州理工大学和金川公司联合开发的阴极铜自动包装生产线,目前该生产线已经在金川公司成功运行,但铜包装线所使用的升降平台在工作过程中存在构件变形大、机身振动大、液压系统压力值大等缺点。本文针对这些缺点,以剪叉式液压升降平台为研究对象,对升降平台机械-液压综合系统进行静态、动态分析,并对液压缸的位置参数进行优化。本文主要进行了以下工作：
首先,利用ANSYS软件对升降平台液压缸进行了静态分析,并对受载后液压油体积变化量和液压缸有效容积变化量进行计算,得到了升降平台液压系统的等效刚度。
其次,在ANSYS中建立升降平台机械-液压综合系统的有限元模型,对其进行静态分析,得到了升降平台承载条件下各构件的变形云图。
再次,对升降平台机械-液压综合系统的有限元模型进行动态分析。通过模态分析和谐响应分析得到了升降平台的前10阶固有频率、主振型图及谐响应曲线图；通过瞬态动力学分析,得到了受冲击载荷时升降平台的位移曲线、速度曲线、加速度曲线。
最后,考虑到液压系统工作压力的大小对升降平台的综合性能有着重要影响,其值取决于升降平台上升过程中活塞的最大推力。本文利用C语言编制了优化程序,对液压缸位置参数进行了优化。优化后升降平台液压系统所需的工作压力减小了25.23%,活塞工作过程中的推力趋于平稳,这将在很大程度上改善液压升降平台的工作性能。
通过本文的工作可以为后续同类设备的设计、开发提供一定的理论参考。
"JNMC copper cathode plate automatic packing production line" is developed by Lanzhou University of Technology with JNMC. Currently, the system has been successfully run in JNMC. But the hydraulic lifting platform of copper cathode plate automatic packing production line suffers from many problems mainly including great deformation of components, serious fuselage vibration, high pressure level of hydraulic system. Address these shortcomings, static and dynamic analysis of the hydraulic scissor lift platform-hydraulic combination and the hydraulic jar's position parameters optimization is carried out in this paper. The main work of this thesis are as follows:
First, ANSYS finite-element software is used to static and dynamic analysis of the hydraulic lifting platform, the variation of the volume of hydraulic oil and the effective volume of hydraulic cylinders is calculated, the equivalent stiffness of Hydraulic lift platform is obtained.
Secondly,ANSYS finite-element software is used to build the finite element model of the scissors hydraulic lift platform mechanical-hydraulic integrated system, followed by the system's static analysis.By static analysis, the deformation cloud of deformation of the each component of lifting platform under certain loads is obtained.
Thirdly,the dynamic analysis of the finite element model is done,by modal analysis and harmonic response analysis, the first ten rank of inherent frequency、main vibration mode diagram and harmonic response characteristic curve is developed. By transient dynamic analysis, curves of displacement、velocity、acceleration under impact loads are carried out.
Finally,the hydraulic system's working pressure of the hydraulic system has significant influence on its performance. The pressure value depends on the maximum push pressure of the piston during the lifting. C language is used to build optimization program, and the position parameters of the hydraulic jar is optimized. After the optimization, the working pressure of the lifting platform hydraulic system is reduced by 25.23%, and the pressure level is more stable, which indicates the certain extend of reduction of vibration during the lifting.
Through this work, some theoretical reference will Provide for the design and development of Similar equipment in the future.
首先,利用ANSYS软件对升降平台液压缸进行了静态分析,并对受载后液压油体积变化量和液压缸有效容积变化量进行计算,得到了升降平台液压系统的等效刚度。
其次,在ANSYS中建立升降平台机械-液压综合系统的有限元模型,对其进行静态分析,得到了升降平台承载条件下各构件的变形云图。
再次,对升降平台机械-液压综合系统的有限元模型进行动态分析。通过模态分析和谐响应分析得到了升降平台的前10阶固有频率、主振型图及谐响应曲线图；通过瞬态动力学分析,得到了受冲击载荷时升降平台的位移曲线、速度曲线、加速度曲线。
最后,考虑到液压系统工作压力的大小对升降平台的综合性能有着重要影响,其值取决于升降平台上升过程中活塞的最大推力。本文利用C语言编制了优化程序,对液压缸位置参数进行了优化。优化后升降平台液压系统所需的工作压力减小了25.23%,活塞工作过程中的推力趋于平稳,这将在很大程度上改善液压升降平台的工作性能。
通过本文的工作可以为后续同类设备的设计、开发提供一定的理论参考。
"JNMC copper cathode plate automatic packing production line" is developed by Lanzhou University of Technology with JNMC. Currently, the system has been successfully run in JNMC. But the hydraulic lifting platform of copper cathode plate automatic packing production line suffers from many problems mainly including great deformation of components, serious fuselage vibration, high pressure level of hydraulic system. Address these shortcomings, static and dynamic analysis of the hydraulic scissor lift platform-hydraulic combination and the hydraulic jar's position parameters optimization is carried out in this paper. The main work of this thesis are as follows:
First, ANSYS finite-element software is used to static and dynamic analysis of the hydraulic lifting platform, the variation of the volume of hydraulic oil and the effective volume of hydraulic cylinders is calculated, the equivalent stiffness of Hydraulic lift platform is obtained.
Secondly,ANSYS finite-element software is used to build the finite element model of the scissors hydraulic lift platform mechanical-hydraulic integrated system, followed by the system's static analysis.By static analysis, the deformation cloud of deformation of the each component of lifting platform under certain loads is obtained.
Thirdly,the dynamic analysis of the finite element model is done,by modal analysis and harmonic response analysis, the first ten rank of inherent frequency、main vibration mode diagram and harmonic response characteristic curve is developed. By transient dynamic analysis, curves of displacement、velocity、acceleration under impact loads are carried out.
Finally,the hydraulic system's working pressure of the hydraulic system has significant influence on its performance. The pressure value depends on the maximum push pressure of the piston during the lifting. C language is used to build optimization program, and the position parameters of the hydraulic jar is optimized. After the optimization, the working pressure of the lifting platform hydraulic system is reduced by 25.23%, and the pressure level is more stable, which indicates the certain extend of reduction of vibration during the lifting.
Through this work, some theoretical reference will Provide for the design and development of Similar equipment in the future.
引文
[1]李鄂民.液压缸驱动剪叉机构的运动学及动力学分析.甘肃工业学学报,1994,4：34-35
[2]李战明,陈若珠.升降台剪叉机构的时变非线性分析与控制.甘肃工业大学学报,1999,3：77-79
[3]卫良保,陶元芳,王鹰.液压升降平台结构有限元分析计算.建筑机械2003(10) ：58-60
[4]魏发孔.双片剪刀撑液压升降平台同步技术的探讨.兰州理工大学学报,2003,30(1)：52-55
[5]宋耀军,刘榛.液压缸驱动的剪刀撑机构运动及动力学分析.起重运输机械,2004(2)：41-43
[6]邓宏光.剪叉式升降平台建模及关键参数研究.机电工程技术,2005,34(7)：20-22
[7]郭永耀,刘立,宋植林.ADAMS/View在剪叉式液压升降平台关键参数确定上的应用.现代制造技术与装备,2006(6)：38-40
[8]解本铭,姜梅惠.平台车剪叉机构实验应力分析.中国民航大学学报,2007,3：39-41
[9]龚建兴,陈若珠,汤子龙.鼓筒式组合转台计算机自动定位系统的研制明.甘肃工业大学学报,1996,(舞台机械专辑)：42-45
[10]陈若珠,龚建兴,汤子龙.舞台吊杆微机群控系统的研制.甘肃工业大学学报,1996,(舞台机械专辑)：35-41
[11]唐朝明.剪叉式液压升降平台的设计.机车车辆工艺,1995(3)
[12]张瑾,王胜航,张世军等.大型多层多块升降台的设计与研制.甘肃工业大学学报,1996,22(舞台机械专辑)：1996,2
[13]王晓方.液压与气动技术.北京：中国轻工业出版社,2005
[14]高文成,高英飞.差动液压缸动态特性分析及应用.一重技术,2007
[15]王燕山,李运华.五轴电液仿真转台的双马达同步控制.北京航天大学学报,2008,4(34)：408-411
[16]罗艳蕾.液压同步回路及同步控制系统实现的方法.液压与气动,2004(4)：65-67
[17]路甬祥.液压气动手册.北京：机械工业出版社,2003
[18]张利平.液压控制系统与设计.北京：化学工业出版社,2006
[19]张令弥.动态有限元模型修正技术及其在航空航天结构中的应用.强度与环境1994,2：10-17
[20]千学明,林晓萍.CA6140机床主轴有限元分析.设计与研究,2006(5)：25-27
[21]Choi J K, Lee D G. Thermal characteristics of the spindle bearing system with a gear located on the bearing span. International Journal of Machine Tools & Manufacture,1998,38:1017-1030
[22]龚曙光.ANSYS基础应用及范例分析.北京机械工业出版社,2003
[23]朱伯芳.有限元法原理与应用.北京：中国水利水电出版社,1998
[24]Rao S S. The Finite Element Method in Structural Mechanics.Academic Press, 1982
[25]R Anderl, RMendgen. Modeling with constration:theoretical foundation and application. Computer-Aide Design,1996,28(3)
[26]韩佩富,王常武,孔令富等.改进的6-DOF并联机器人Newton-Euler动力学模型.机器人,2000,22(4)：315-318
[27]Lee S K, Yoo J H, Yang M S. Effect of thermal deformation on machine tool slide guide motion. Tribology,2003,36:41-47
[28]Stefan Reh,Jean-Daniel Beley.Probabi listic finite element analysis using ANSYS .Structural Safety,2006,28
[29]杨为.复杂结构静、动态特性的若干关键问题研究.[浙江大学博士后学位论文].浙江：浙江大学,2003
[30]Yang H, Ni J. Dynamic neural network modeling for nonlinear,Nonstationary machine tool thermally induced error. International Journal of Machine Tools & Manufacture,2005,45:455-465
[31]贺文海,任中全.矿车车体减振特性分析.起重运输机械,2005(5)：19-21
[32]Boss manns B, Tu J Y. A thermal model for high speed motorized Spindles. International Journal of Machine Tools & Manufacture,1999,39:1345-1366
[33]杨明亚,杨涛.机床立柱动态特性的分析.机械制造与研究,2007,36(1)：29-31
[34]陈显钧,赵令诚.弯曲板固有振动分析的动态有限元素法.振动与冲击,1982,2：1-11
[35]K.J巴斯.工程分析中的有限元法.北京：机械工业出版社,1991
[36]杨光,王玉丹.传递矩阵法进行电主轴动力性分析.机械设什与制造,2001,5(3)：50-52
[37]刘延柱,陈文良,陈立群.振动力学.北京：高等教育出版社,1998
[38]师汉民,吴雅.机械振动系统.武汉：华中理工大学出版社,1992,11
[39]Dipankar Chakravorty,J.N.Bandyopadhyay,P.K.Sinha.Finite element free vibration analysis of conoidal shells[J].Computer&structures,1995
[40]贺国京,陈大鹏.动态有限元法及其在薄板弯曲振动中的应用.长沙铁道学院学报,1999,17(1)：1-6
[41]Sun Z,Yang H.Development of a finite element simulation system for the tubeaxial compressive precision forming processed.International Journal of Machine Tools Manufl,2002,1:15-20
[42]Pan C H,Moskwa Jone J. Dynamic modeling and simulation of the ford and automobile transmission. SEA Tech. Paper No.950899
[43]Yang H, Ni J. Dynamic neural network modeling for nonlinear,Nonstationary machine tool thermally induced error. International Journal of Machine Tools & Manufacture,2005,45:455-465
[44]谭浩强.C程序设计.北京：清华大学出版社,1999
[2]李战明,陈若珠.升降台剪叉机构的时变非线性分析与控制.甘肃工业大学学报,1999,3：77-79
[3]卫良保,陶元芳,王鹰.液压升降平台结构有限元分析计算.建筑机械2003(10) ：58-60
[4]魏发孔.双片剪刀撑液压升降平台同步技术的探讨.兰州理工大学学报,2003,30(1)：52-55
[5]宋耀军,刘榛.液压缸驱动的剪刀撑机构运动及动力学分析.起重运输机械,2004(2)：41-43
[6]邓宏光.剪叉式升降平台建模及关键参数研究.机电工程技术,2005,34(7)：20-22
[7]郭永耀,刘立,宋植林.ADAMS/View在剪叉式液压升降平台关键参数确定上的应用.现代制造技术与装备,2006(6)：38-40
[8]解本铭,姜梅惠.平台车剪叉机构实验应力分析.中国民航大学学报,2007,3：39-41
[9]龚建兴,陈若珠,汤子龙.鼓筒式组合转台计算机自动定位系统的研制明.甘肃工业大学学报,1996,(舞台机械专辑)：42-45
[10]陈若珠,龚建兴,汤子龙.舞台吊杆微机群控系统的研制.甘肃工业大学学报,1996,(舞台机械专辑)：35-41
[11]唐朝明.剪叉式液压升降平台的设计.机车车辆工艺,1995(3)
[12]张瑾,王胜航,张世军等.大型多层多块升降台的设计与研制.甘肃工业大学学报,1996,22(舞台机械专辑)：1996,2
[13]王晓方.液压与气动技术.北京：中国轻工业出版社,2005
[14]高文成,高英飞.差动液压缸动态特性分析及应用.一重技术,2007
[15]王燕山,李运华.五轴电液仿真转台的双马达同步控制.北京航天大学学报,2008,4(34)：408-411
[16]罗艳蕾.液压同步回路及同步控制系统实现的方法.液压与气动,2004(4)：65-67
[17]路甬祥.液压气动手册.北京：机械工业出版社,2003
[18]张利平.液压控制系统与设计.北京：化学工业出版社,2006
[19]张令弥.动态有限元模型修正技术及其在航空航天结构中的应用.强度与环境1994,2：10-17
[20]千学明,林晓萍.CA6140机床主轴有限元分析.设计与研究,2006(5)：25-27
[21]Choi J K, Lee D G. Thermal characteristics of the spindle bearing system with a gear located on the bearing span. International Journal of Machine Tools & Manufacture,1998,38:1017-1030
[22]龚曙光.ANSYS基础应用及范例分析.北京机械工业出版社,2003
[23]朱伯芳.有限元法原理与应用.北京：中国水利水电出版社,1998
[24]Rao S S. The Finite Element Method in Structural Mechanics.Academic Press, 1982
[25]R Anderl, RMendgen. Modeling with constration:theoretical foundation and application. Computer-Aide Design,1996,28(3)
[26]韩佩富,王常武,孔令富等.改进的6-DOF并联机器人Newton-Euler动力学模型.机器人,2000,22(4)：315-318
[27]Lee S K, Yoo J H, Yang M S. Effect of thermal deformation on machine tool slide guide motion. Tribology,2003,36:41-47
[28]Stefan Reh,Jean-Daniel Beley.Probabi listic finite element analysis using ANSYS .Structural Safety,2006,28
[29]杨为.复杂结构静、动态特性的若干关键问题研究.[浙江大学博士后学位论文].浙江：浙江大学,2003
[30]Yang H, Ni J. Dynamic neural network modeling for nonlinear,Nonstationary machine tool thermally induced error. International Journal of Machine Tools & Manufacture,2005,45:455-465
[31]贺文海,任中全.矿车车体减振特性分析.起重运输机械,2005(5)：19-21
[32]Boss manns B, Tu J Y. A thermal model for high speed motorized Spindles. International Journal of Machine Tools & Manufacture,1999,39:1345-1366
[33]杨明亚,杨涛.机床立柱动态特性的分析.机械制造与研究,2007,36(1)：29-31
[34]陈显钧,赵令诚.弯曲板固有振动分析的动态有限元素法.振动与冲击,1982,2：1-11
[35]K.J巴斯.工程分析中的有限元法.北京：机械工业出版社,1991
[36]杨光,王玉丹.传递矩阵法进行电主轴动力性分析.机械设什与制造,2001,5(3)：50-52
[37]刘延柱,陈文良,陈立群.振动力学.北京：高等教育出版社,1998
[38]师汉民,吴雅.机械振动系统.武汉：华中理工大学出版社,1992,11
[39]Dipankar Chakravorty,J.N.Bandyopadhyay,P.K.Sinha.Finite element free vibration analysis of conoidal shells[J].Computer&structures,1995
[40]贺国京,陈大鹏.动态有限元法及其在薄板弯曲振动中的应用.长沙铁道学院学报,1999,17(1)：1-6
[41]Sun Z,Yang H.Development of a finite element simulation system for the tubeaxial compressive precision forming processed.International Journal of Machine Tools Manufl,2002,1:15-20
[42]Pan C H,Moskwa Jone J. Dynamic modeling and simulation of the ford and automobile transmission. SEA Tech. Paper No.950899
[43]Yang H, Ni J. Dynamic neural network modeling for nonlinear,Nonstationary machine tool thermally induced error. International Journal of Machine Tools & Manufacture,2005,45:455-465
[44]谭浩强.C程序设计.北京：清华大学出版社,1999