基于虚拟样机的挖掘机工作装置的设计与仿真
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摘要
液压挖掘机是一种应用广泛、功能多样、结构复杂的建设施工机械。随着挖掘机市场竞争的不断加剧,其产品的开发速度及其可靠性日益成为最具挑战性的因素。由于新产品开发周期长、成本高、设计手段落后而导致我国传统工程机械行业缺乏市场竞争力。逐渐成熟的虚拟样机技术为实现新产品的快速开发,提高我国工程机械产品的设计水平和市场竞争力提供了强有力的手段。本文将虚拟样机技术引入到液压挖掘机的设计开发过程中,并主要从以下几个方面进行研究:
1.首先介绍了虚拟样机技术的基本理论,回顾了虚拟样机技术和液压挖掘机在国内外的研究现状和发展趋势,论述了将虚拟样机技术应用于液压挖掘机设计的必要性。
2.在分析了液压挖掘机整机系统组成以及工作装置的设计要求与方法的基础上,依据虚拟样机技术的基本理论,利用UG、MATLAB、ADAMS软件对液压挖掘机进行设计和仿真。
3.探讨了UG软件与ADAMS软件之间的数据传输途径以及应用ADAMS软件建立了液压挖掘机的运动学与动力学仿真模型。通过对挖掘机在复合动作作业方式下的力学特性分析,建立了对称载荷工况下的动力学模型,进行了仿真分析。
4.基于现代设计方法,利用ADAMS软件对液压挖掘机工作装置的连杆机构进行优化设计。在铲斗液压缸闭锁力一定的情况下,分析得出了铲斗发挥最大挖掘力的最佳传动比。
Hydraulic excavator is a widely used, versatile, complex structure of the construction machinery. With the growing competition in the market, it is increasingly becoming the most challenging factor of the product development speed and reliability. Because of long development cycle of new products, high cost, backwardness design methods, it is lack of market competitiveness of china's traditional construction machinery industry. Gradually mature virtual prototype technology to realize the product fast development, enhanced the design level and the market competitiveness of our country construction machinery product has provided the powerful method. This paper will introduce virtual prototype technology into hydraulic excavator design and development area, mainly aspects are studied as follows:
Firstly, introduced virtual prototype technology's basic theory, recalled the virtual prototype technology and hydraulic excavators in the research situation and development trends and will be discussed that it is need of using virtual prototype technology in the design of the hydraulic excavator.
Secondly, according to the basic theory of virtual prototype, proceeded to design and simulation about hydraulic excavator based on MATLAB, UG, ADAMS software in the analysis of the hydraulic excavator all components and design requirements and methods of equipment.
Thirdly, discussed the data transmission channels between UG and ADAMS software, worked out the method to establish kinematics and dynamics simulation model using ADAMS software, established the dynamics model in symmetrical load conditions based on analysis of the excavator operations in the compound action of mechanical properties, and processed to simulation analysis.
Finally, optimized the hydraulic excavator equipment linkage in the software ADAMS based on modern design method, and studied the best transmission ratio exerting the biggest digging force in the bucket of the hydraulic cylinder atresia certain circumstances.
1.首先介绍了虚拟样机技术的基本理论,回顾了虚拟样机技术和液压挖掘机在国内外的研究现状和发展趋势,论述了将虚拟样机技术应用于液压挖掘机设计的必要性。
2.在分析了液压挖掘机整机系统组成以及工作装置的设计要求与方法的基础上,依据虚拟样机技术的基本理论,利用UG、MATLAB、ADAMS软件对液压挖掘机进行设计和仿真。
3.探讨了UG软件与ADAMS软件之间的数据传输途径以及应用ADAMS软件建立了液压挖掘机的运动学与动力学仿真模型。通过对挖掘机在复合动作作业方式下的力学特性分析,建立了对称载荷工况下的动力学模型,进行了仿真分析。
4.基于现代设计方法,利用ADAMS软件对液压挖掘机工作装置的连杆机构进行优化设计。在铲斗液压缸闭锁力一定的情况下,分析得出了铲斗发挥最大挖掘力的最佳传动比。
Hydraulic excavator is a widely used, versatile, complex structure of the construction machinery. With the growing competition in the market, it is increasingly becoming the most challenging factor of the product development speed and reliability. Because of long development cycle of new products, high cost, backwardness design methods, it is lack of market competitiveness of china's traditional construction machinery industry. Gradually mature virtual prototype technology to realize the product fast development, enhanced the design level and the market competitiveness of our country construction machinery product has provided the powerful method. This paper will introduce virtual prototype technology into hydraulic excavator design and development area, mainly aspects are studied as follows:
Firstly, introduced virtual prototype technology's basic theory, recalled the virtual prototype technology and hydraulic excavators in the research situation and development trends and will be discussed that it is need of using virtual prototype technology in the design of the hydraulic excavator.
Secondly, according to the basic theory of virtual prototype, proceeded to design and simulation about hydraulic excavator based on MATLAB, UG, ADAMS software in the analysis of the hydraulic excavator all components and design requirements and methods of equipment.
Thirdly, discussed the data transmission channels between UG and ADAMS software, worked out the method to establish kinematics and dynamics simulation model using ADAMS software, established the dynamics model in symmetrical load conditions based on analysis of the excavator operations in the compound action of mechanical properties, and processed to simulation analysis.
Finally, optimized the hydraulic excavator equipment linkage in the software ADAMS based on modern design method, and studied the best transmission ratio exerting the biggest digging force in the bucket of the hydraulic cylinder atresia certain circumstances.
引文
[1]姜士湖,闫相桢.虚拟样机技术及其在国内的应用前景[J].机械:2003,30(2)
[2]Robert R.Ryan.Smarter to market with the Functional Virtual Prototype.In:2000 International ADAMS User Conference.Orlando,2000
[3]吴庆明,何小新主编.工程机械设计.武汉:武汉大学出版社,2006.4
[4]Gregory Lee.Virtual prototyping on personal computers.Mechanical Engineering.1995,117(7)
[5]H.-J.Bullingrer,J.Warschat,D.Fischer:Rapid product development -an overview,Computers in Industry,42(2000)
[6]Ron MeCoy:Virtual Prototyping:The Practical Solution,Inventor' Digest,May/June 1998
[7]Stefan Haas:Cooperative Working on Virtual Prototypes.IFIP Workshop on VP,1994
[8]刘宏增等.虚拟设计[M].北京:机械工业出版社,1999
[9]郝云堂,金烨,季辉.虚拟样机技术及其在ADAMS中的实践.机械设计与制造,2003.6
[10]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
[11]潘海寿.复杂机械的虚拟样机技术[D].南京理工大学,2002
[12]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,2002.1
[13]宋培林.机械工程的一门新兴技术.www.simwe.com,2002
[14]张铁.液压挖掘机结构原理及使用[M].山东:石油大学出版社,2002
[15]孔德文等.液压挖掘机[M].北京:化学工业出版社,2006
[16]陈正利.当前中国挖掘机行业发展概况、机遇及其前景.建筑机械,2001,1:9-12
[17]滕裕昌.我国工程机械的质量形势与任务.建筑机械[J],1999(1)
[18]朱建新,邹湘伏,黄志雄.谈国产液压挖掘机未来的发展趋势.凿岩机械气动工具,2003,3:49-54
[19]黄东胜,邱斌.现代挖掘机械[M].北京:人民交通出版社,2003
[20]同济大学主编.单斗液压挖掘机(第二版).北京:中国建筑工业出版社,1986
[21]符炜编著.机械创新设计构思方法.长沙:湖南科学技术出版社,2006.1
[22]徐灏等编.机械设计手册(第一卷).北京:机械工业出版社,1991
[23]阎书文.机械式挖掘机设计[M].北京:机械工业出版社,1991
[24]马秋成,韩利芬,聂松辉等.UG实用教程CAD篇[M].北京:机械工业出版社,2001
[25]曾向国,谢国明,王学平等.UG NX基础及应用教程[M].北京:电子工业出版社,2003
[26]洪如瑾.UG NX4 CAD快速入门与指导[M].北京:清华大学出版社,2006
[27]曹善华.单斗液压挖掘机[M].北京:建筑工业出版社,1988
[28]MSC.Software Corp..Using the ADAMS/View Funciton Builder.MSC.Software Corporation,USA,2003
[29]Mechanical Dynamics Inc..ADAMS/View User' s Reference Manual.Mechanical Dynamic Inc.,USA,1994
[30]Mechanical Dynamics Inc..ADAMS/Solver User' s Reference Manual.Mechanical Dynamic Inc.,USA,1994
[31]李军,邢俊文,覃文洁等编.ADAMS实例教程[M].北京:北京理工大学出版社,2002
[32](美)MSC.Software 著:邢俊文,陶永忠译.MSC.ADAMS/View高级培训教程.北京:清华大学出版社,2004
[33]钱仲焱,童昕.铰点布置对液压挖掘机工作装置特性的影响[J].工程机械,1997(4)
[34]陈秀宁主编.机械优化设计.杭州:浙江大学出版社,1991
[35]潘兆庆,周济主编.现代设计方法概论[M].北京:机械工业出版社,1991
[36]陈立周.机械优化设计方法[M].北京:冶金工业出版社,1995
[37]刘惟信.机械最优化设计[M].北京:清华大学出版社,1994
[38]王文博.机构和机械零部件优化设计[M].北京:机械工业出版社,1990
[39]张志涌等.掌握和精通MATLAB.北京:北京航空航天大学出版社,1997.8
[40]楼顺天等.MATLAB程序设计语言.西安:西安电子科技大学出版社,1997
[41]MathWorks.MATLAB~(TM),High-performance numeric compution and visualization software,User's Guide,1993
[42]MathWorks.MATLAB~(TM),High-performance numeric compution and visualization software,Building graphical user interfaces,1993
[43]A.S.Hall,P.R.McAree.Robust bucket position tracking fo a large hydraulic excavator.Mechanism and Machine Theory 40(2005)
[43]Masakazu Haga,Watanabe niroshi,Kazuo Fujishima.Digging control system for hydraulic excavator.Mechatronics 11(2001)
[44]ADAMS Online Documentation.Mechanical Dynamics,Inc.2002
[45]Prof.Dr.Alvaro Costa Nero.Vurtual Prototype:A New Concept in the Development of Mechanical Projects.SAE.982938
[46]陈育仪.工程机械优化设计[M].北京:中国铁道出版社,1987
[47]章成器.优化设计方法在工程机械的应用[M].上海:同济大学出版社,1994
[2]Robert R.Ryan.Smarter to market with the Functional Virtual Prototype.In:2000 International ADAMS User Conference.Orlando,2000
[3]吴庆明,何小新主编.工程机械设计.武汉:武汉大学出版社,2006.4
[4]Gregory Lee.Virtual prototyping on personal computers.Mechanical Engineering.1995,117(7)
[5]H.-J.Bullingrer,J.Warschat,D.Fischer:Rapid product development -an overview,Computers in Industry,42(2000)
[6]Ron MeCoy:Virtual Prototyping:The Practical Solution,Inventor' Digest,May/June 1998
[7]Stefan Haas:Cooperative Working on Virtual Prototypes.IFIP Workshop on VP,1994
[8]刘宏增等.虚拟设计[M].北京:机械工业出版社,1999
[9]郝云堂,金烨,季辉.虚拟样机技术及其在ADAMS中的实践.机械设计与制造,2003.6
[10]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
[11]潘海寿.复杂机械的虚拟样机技术[D].南京理工大学,2002
[12]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,2002.1
[13]宋培林.机械工程的一门新兴技术.www.simwe.com,2002
[14]张铁.液压挖掘机结构原理及使用[M].山东:石油大学出版社,2002
[15]孔德文等.液压挖掘机[M].北京:化学工业出版社,2006
[16]陈正利.当前中国挖掘机行业发展概况、机遇及其前景.建筑机械,2001,1:9-12
[17]滕裕昌.我国工程机械的质量形势与任务.建筑机械[J],1999(1)
[18]朱建新,邹湘伏,黄志雄.谈国产液压挖掘机未来的发展趋势.凿岩机械气动工具,2003,3:49-54
[19]黄东胜,邱斌.现代挖掘机械[M].北京:人民交通出版社,2003
[20]同济大学主编.单斗液压挖掘机(第二版).北京:中国建筑工业出版社,1986
[21]符炜编著.机械创新设计构思方法.长沙:湖南科学技术出版社,2006.1
[22]徐灏等编.机械设计手册(第一卷).北京:机械工业出版社,1991
[23]阎书文.机械式挖掘机设计[M].北京:机械工业出版社,1991
[24]马秋成,韩利芬,聂松辉等.UG实用教程CAD篇[M].北京:机械工业出版社,2001
[25]曾向国,谢国明,王学平等.UG NX基础及应用教程[M].北京:电子工业出版社,2003
[26]洪如瑾.UG NX4 CAD快速入门与指导[M].北京:清华大学出版社,2006
[27]曹善华.单斗液压挖掘机[M].北京:建筑工业出版社,1988
[28]MSC.Software Corp..Using the ADAMS/View Funciton Builder.MSC.Software Corporation,USA,2003
[29]Mechanical Dynamics Inc..ADAMS/View User' s Reference Manual.Mechanical Dynamic Inc.,USA,1994
[30]Mechanical Dynamics Inc..ADAMS/Solver User' s Reference Manual.Mechanical Dynamic Inc.,USA,1994
[31]李军,邢俊文,覃文洁等编.ADAMS实例教程[M].北京:北京理工大学出版社,2002
[32](美)MSC.Software 著:邢俊文,陶永忠译.MSC.ADAMS/View高级培训教程.北京:清华大学出版社,2004
[33]钱仲焱,童昕.铰点布置对液压挖掘机工作装置特性的影响[J].工程机械,1997(4)
[34]陈秀宁主编.机械优化设计.杭州:浙江大学出版社,1991
[35]潘兆庆,周济主编.现代设计方法概论[M].北京:机械工业出版社,1991
[36]陈立周.机械优化设计方法[M].北京:冶金工业出版社,1995
[37]刘惟信.机械最优化设计[M].北京:清华大学出版社,1994
[38]王文博.机构和机械零部件优化设计[M].北京:机械工业出版社,1990
[39]张志涌等.掌握和精通MATLAB.北京:北京航空航天大学出版社,1997.8
[40]楼顺天等.MATLAB程序设计语言.西安:西安电子科技大学出版社,1997
[41]MathWorks.MATLAB~(TM),High-performance numeric compution and visualization software,User's Guide,1993
[42]MathWorks.MATLAB~(TM),High-performance numeric compution and visualization software,Building graphical user interfaces,1993
[43]A.S.Hall,P.R.McAree.Robust bucket position tracking fo a large hydraulic excavator.Mechanism and Machine Theory 40(2005)
[43]Masakazu Haga,Watanabe niroshi,Kazuo Fujishima.Digging control system for hydraulic excavator.Mechatronics 11(2001)
[44]ADAMS Online Documentation.Mechanical Dynamics,Inc.2002
[45]Prof.Dr.Alvaro Costa Nero.Vurtual Prototype:A New Concept in the Development of Mechanical Projects.SAE.982938
[46]陈育仪.工程机械优化设计[M].北京:中国铁道出版社,1987
[47]章成器.优化设计方法在工程机械的应用[M].上海:同济大学出版社,1994