基于虚拟样机的四驱采煤机搬运车的研究
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摘要
虚拟样机技术又称为机械系统动态仿真技术,是一种以计算机建模、仿真为基础的数字化设计方法。其可以针对不同领域和不同的设计要求,综合多学科技术,实现产品的快速设计、性能分析、结构优化等。虚拟样机改变了传统的设计方式,降低了研发周期和研发资本,缩短了产品开发周期,改进了产品设计质量,提高了面向客户和市场需要的能力。
采煤机搬运车是煤矿井下搬家倒面时采用的一种新型的无轨辅助运输设备,是成套辅助运输系统设备中关键设备之一。其可以降低工人的劳动强度、节约搬运时间、提高搬运效率。采煤机搬运车的设计中引进防爆低污染型柴油机主机和可靠性高的传动元部件,属国内创新车辆。
本课题以TY150型四驱采煤机搬运车(以下简称搬运车)为研究对象,与某厂家的设计同步进行。应用三维CAD软件Unigraphics(简称UG)、虚拟样机分析软件RecurDyn(简称RD)以及有限元分析软件ANSYS,进行了实体建模、动力学仿真、有限元分析等工作。具体内容如下:
1.研究各工况下搬运车的牵引力。
在UG中建立搬运车的车架的三维简化模型,在RD中的低速履带模块中建立左右行走机构的模型。将车架的三维模型导入RD中进行装配,并添加约束,摩擦等完成虚拟样机的建立。
在水泥路面、坚实土路和松散土路三种路况下分别做平路、上坡和原地转弯的动力学仿真,分析得到各工况下的最大转矩和稳定后的平均转矩;将仿真结果与理论计算结果进行对比分析,以验证仿真的正确性;确定各工况下搬运车的牵引力和履带张力;分析得出各路况的阻力系数和转弯系数。
2.校核行走机构张紧装置架的强度。对张紧装置进行静力分析,得出其应变与应力,分析其是否满足强度要求。
3.校核搬运车车架的强度。对车架进行静力分析和模态分析,分析其是否满足强度要求,判定搬运车是否会发生共振。
Virtual prototype technology is called the mechanical system dynamic simulation technology, it is one kind of taking the computer modelling, the simulation as the foundation digitization design method. The technology can aim at different domain and different design requirements,and it synthesized the multi-disciplinary technologies,realize the product rapid designing,the performance analysis,the structure optimization and so on. Virtual prototype change the traditional design way, reduce the research cycle and capital, shorten the product development cycle, improve the product design quality, and enhance facing the customer and market requirement ability.
Carrier of coal cutter is a machine for moving the coal cutter and one of the key part complete auxiliary transportation system equipments. It’s a new type of non-rail transportation equipment. The design of the carrier takes advantage of anti-explosive and low polluting diesel engine, and other high reliable transmission parts. It is natioal innovative product.
This paper is based on TY150 four drivers Carrier of coal cutter as the research object, and it is carried on with factory.In this paper,UG, RecurDyn and ANSYS are applied to the 3-D model conducting, dynamic simulation and finite element anylasis. The main contents are as follows:
1 Research the traction force of four-wheel driving carrier on different working conditions.
This paper creats the three-dimensional simplified model of frame in UG,and creats the walking mechanism in slow pedrail module of RD. The three-dimensional simplified model is imported into UG, assembled, and added constraints and friction to complete the virtual prototype.
The paper carries on different dynamic simulations of the carrier, level moving, climing and pivotturn, under three circumstances: on the concrete road, on the solid road and on the loose road.Then we obtain the torque and tension curve of sprocket wheels, and find out the maximum torque and average torque from the curve, and aquire the friction coefficient and the turning coefficient on each kind of road state. It also carries on comparing analysis on simulation data with the theoretical calculation results.
2 Check the strength of stretching device. We carry on static analysis of stretching device and check out whether strength meet the requirements based on the stress and strain obtained in the analysis.
3 Check the strength of frame.Inspect the strength of the frame through static analysis and modal analysis, then check out whether syntony would happen.
采煤机搬运车是煤矿井下搬家倒面时采用的一种新型的无轨辅助运输设备,是成套辅助运输系统设备中关键设备之一。其可以降低工人的劳动强度、节约搬运时间、提高搬运效率。采煤机搬运车的设计中引进防爆低污染型柴油机主机和可靠性高的传动元部件,属国内创新车辆。
本课题以TY150型四驱采煤机搬运车(以下简称搬运车)为研究对象,与某厂家的设计同步进行。应用三维CAD软件Unigraphics(简称UG)、虚拟样机分析软件RecurDyn(简称RD)以及有限元分析软件ANSYS,进行了实体建模、动力学仿真、有限元分析等工作。具体内容如下:
1.研究各工况下搬运车的牵引力。
在UG中建立搬运车的车架的三维简化模型,在RD中的低速履带模块中建立左右行走机构的模型。将车架的三维模型导入RD中进行装配,并添加约束,摩擦等完成虚拟样机的建立。
在水泥路面、坚实土路和松散土路三种路况下分别做平路、上坡和原地转弯的动力学仿真,分析得到各工况下的最大转矩和稳定后的平均转矩;将仿真结果与理论计算结果进行对比分析,以验证仿真的正确性;确定各工况下搬运车的牵引力和履带张力;分析得出各路况的阻力系数和转弯系数。
2.校核行走机构张紧装置架的强度。对张紧装置进行静力分析,得出其应变与应力,分析其是否满足强度要求。
3.校核搬运车车架的强度。对车架进行静力分析和模态分析,分析其是否满足强度要求,判定搬运车是否会发生共振。
Virtual prototype technology is called the mechanical system dynamic simulation technology, it is one kind of taking the computer modelling, the simulation as the foundation digitization design method. The technology can aim at different domain and different design requirements,and it synthesized the multi-disciplinary technologies,realize the product rapid designing,the performance analysis,the structure optimization and so on. Virtual prototype change the traditional design way, reduce the research cycle and capital, shorten the product development cycle, improve the product design quality, and enhance facing the customer and market requirement ability.
Carrier of coal cutter is a machine for moving the coal cutter and one of the key part complete auxiliary transportation system equipments. It’s a new type of non-rail transportation equipment. The design of the carrier takes advantage of anti-explosive and low polluting diesel engine, and other high reliable transmission parts. It is natioal innovative product.
This paper is based on TY150 four drivers Carrier of coal cutter as the research object, and it is carried on with factory.In this paper,UG, RecurDyn and ANSYS are applied to the 3-D model conducting, dynamic simulation and finite element anylasis. The main contents are as follows:
1 Research the traction force of four-wheel driving carrier on different working conditions.
This paper creats the three-dimensional simplified model of frame in UG,and creats the walking mechanism in slow pedrail module of RD. The three-dimensional simplified model is imported into UG, assembled, and added constraints and friction to complete the virtual prototype.
The paper carries on different dynamic simulations of the carrier, level moving, climing and pivotturn, under three circumstances: on the concrete road, on the solid road and on the loose road.Then we obtain the torque and tension curve of sprocket wheels, and find out the maximum torque and average torque from the curve, and aquire the friction coefficient and the turning coefficient on each kind of road state. It also carries on comparing analysis on simulation data with the theoretical calculation results.
2 Check the strength of stretching device. We carry on static analysis of stretching device and check out whether strength meet the requirements based on the stress and strain obtained in the analysis.
3 Check the strength of frame.Inspect the strength of the frame through static analysis and modal analysis, then check out whether syntony would happen.
引文
[1]乔尚明.澳大利亚煤矿的无轨运输设备[J].煤矿机电,1992,(3):19-20.
[2]刘涛.关于矿井辅助运输方式的选择[J].煤炭工程,2003,(12):07-10.
[3]包庆林.松河矿井实现高产高效可行性研究[D].贵阳:贵州大学,2005.
[4]樊运平,李春英.TY100FB采煤机搬运车的设计[J].煤炭科学技术,2005,33(1):33-35.
[5]范秋霞.采煤机搬运车(单驱)静态分析与动态仿真[D].太原:太原理工大学,2007.
[6]邓崛,黄晓元.基于虚拟样机的铲运机工作装置优化设计[J].机械设计与研究,2008,24(6):113-116.
[7]韩宝坤,李晓雷,孙逢春.履带车辆动力学仿真技术的发展与展望[J].兵工学报,2003,24(2):246-249.
[8]李丹,李印川.虚拟样机技术在制造业中的应用及研究现状[J].机械,2008,6(35):01-04.
[9]吴修彬.虚拟样机建模技术浅析[J].机械制造与研究,2007,36(5):33-34.
[10]李思昆,郭阳.协作虚拟样机与协同设计方法[J].系统仿真学报,2001,13(1):124-127.
[11]郑金.UG NX4应用与实例教程[M].北京:人民交通出版社,2009:1-385.
[12]龙马工作室.新编UG NX4.0中文版从入门到精通[M].北京:人民邮电出版社,2008:151-346.
[13] J. G. Hetherington ,Tracked vehicle operations on sand– investigations at model scale1Journal of Terramechanics[J], Volume 42, Issue 1, January 2005, Pages 65-70.
[14] Gianni Ferretti and Roberto Girell,Modelling and simulation of an agricultural tracked vehicleJournal of Terramechanics[J], Volume 36, Issue 3, July 1999, Pages 139-158.
[15] FunctionBay公司著,RecurDynTM/Track(LM)
[16]卢进军,魏来生,赵韬硕.基于RecurDyn的履带车辆高速转向动力学仿真[J].现代机械,2008,(1):10-12.
[17]陆扬,马星国,舒启林.基于RecurDyn的行星轮系动力学仿真[J].沈阳理工大学报,2008,27(4):76-79.
[18] Benoit, Ph. Gotteland and A. Quibel ,Prediction of trafficability for tracked vehicle on broken soil:real size tests,Journal of Terramechanics[J], Volume 40, Issue 2, April 2003, Pages 135-160.
[19] Dror Rubinstein, James L. Coppock. A detailed single-link track model for multi-body dynamic simulation of crawlers[J]. Journal of Terramechanics, Volume 44, Issue 5, November 2007, Pages 355-364.
[20] H. Ergin, O. Acaroglu. The effect of machine design parameters on the stability of a roadheader[J]. Tunnelling and Underground Space Technology, Volume 22, Issue 1, January 2007, Pages 80-89.
[21] W.Merhof ,E.Hackbarth.韩雪梅等译.履带车辆行驶力学[M].北京:国防工业出版社,1989:36-62.
[22]李太杰.工程机械底盘理论与性能[M].北京:人民交通出版社,1989:1-26.
[23]郁录平.工程机械底盘设计[M].北京:人民交通出版社,2004:1-17.
[24] A Bodin ,Development of a tracked vehicle to study the influence of vehicle parameters on tractive performance in soft terrainJournal of Terramechanics[J], Volume 36, Issue 3, July 1999, Pages 167-181.
[25] D. T. Tran, J. O'Brien, T. Muro. An optimal method for the design of a robotic tracked vehicle to operate over fresh concrete under steering motion[J]. Journal of Terramechanics, Volume 39, Issue 1, January 2002, Pages 1-22
[26] D. T. Tran and T. Muro , Effect of an innovative vertical vibro-tracked vehicle on soil compactionJournal of Terramechanics[J], Volume 41, Issue 1, January 2004, Pages 1-23.
[27]罗敏芝,向复生,宋晓.基于RecurDyn的坦克动力学分析与仿真[J].第六届全国仿真器学术会议,2007:85-87.
[28] D. Rubinstein and R. Hitron ,A detailed multi-body model for dynamic simulation of off-road tracked vehicles,Journal of Terramechanics[J], Volume 41, Issues 2-3, April-July 2004, Pages 163-173.
[29]赵国栋.煤矿井下双履带行走机械转向方式的探讨[J].煤炭技术,2007,(11):47-49.
[30] MT/T910-2002,悬臂式掘进机履带行走机构设计导则[S].北京:中国煤炭工业出版社,2002.
[31] H·Я·哈尔胡塔,曹相云译.压实土壤理论及机械[M].北京:水利出版社,1957:1-39.
[32]马伟标,王红岩,程军伟.履带车辆软土通过性能影响仿真[J].计算机辅助工程,2006,15:257-259.
[33]宋海军,李军,王琛.坚实地面上履带车辆转向过程仿真与试验研究[J].车辆与动力技术,2005,(3):45-49.
[34]李春英,王斌.煤矿井下履带车辆转向阻力矩的计算[J].太原理工大学学报,2007,38(4):336-338.
[35]濮良贵,纪名刚.机械设计[M].北京:高等教育出版社,2001:163-180.
[36]隋文涛.大型矿用挖掘机履带行走装置动力学仿真研究[D].长春:吉林大学,2007.
[37] Stefan Reh, Jean-Daniel Beley, Siddhartha Mukherjee, Eng Hui Khor. Probabilistic finite element analysis using ANSYS[J]. Structural Safety, Volume 28, Issues 1-2, January-April 2006, Pages 17-43.
[38] A. Ghorbanpour Arani, R. Rahmani, A. Arefmanesh. Elastic buckling analysis of single-walled carbon nanotube under combined loading by using the ANSYS software[J]. Physica E: Low-dimensional Systems and Nanostructures, Volume 40, Issue 7, May 2008, Pages 2390-2395.
[39]周长城,胡仁喜,熊文波.ANSYS11.0基础与典型范例[M].北京:电子工业出版社,2007:1 95-257.
[40]叶先磊,史亚杰.ANSYS工程分析软件应用实例[M].北京:清华大学出版社,2003.
[41]孙军,经树栋.CAD与ANSYS的接口探讨[J].应用软件.2004, 2:55-57.
[42]张发琼.矿用高强度扁平接链环有限元优化设计与实验应力分析[D].阜新:辽宁工程技术大学,2003.
[2]刘涛.关于矿井辅助运输方式的选择[J].煤炭工程,2003,(12):07-10.
[3]包庆林.松河矿井实现高产高效可行性研究[D].贵阳:贵州大学,2005.
[4]樊运平,李春英.TY100FB采煤机搬运车的设计[J].煤炭科学技术,2005,33(1):33-35.
[5]范秋霞.采煤机搬运车(单驱)静态分析与动态仿真[D].太原:太原理工大学,2007.
[6]邓崛,黄晓元.基于虚拟样机的铲运机工作装置优化设计[J].机械设计与研究,2008,24(6):113-116.
[7]韩宝坤,李晓雷,孙逢春.履带车辆动力学仿真技术的发展与展望[J].兵工学报,2003,24(2):246-249.
[8]李丹,李印川.虚拟样机技术在制造业中的应用及研究现状[J].机械,2008,6(35):01-04.
[9]吴修彬.虚拟样机建模技术浅析[J].机械制造与研究,2007,36(5):33-34.
[10]李思昆,郭阳.协作虚拟样机与协同设计方法[J].系统仿真学报,2001,13(1):124-127.
[11]郑金.UG NX4应用与实例教程[M].北京:人民交通出版社,2009:1-385.
[12]龙马工作室.新编UG NX4.0中文版从入门到精通[M].北京:人民邮电出版社,2008:151-346.
[13] J. G. Hetherington ,Tracked vehicle operations on sand– investigations at model scale1Journal of Terramechanics[J], Volume 42, Issue 1, January 2005, Pages 65-70.
[14] Gianni Ferretti and Roberto Girell,Modelling and simulation of an agricultural tracked vehicleJournal of Terramechanics[J], Volume 36, Issue 3, July 1999, Pages 139-158.
[15] FunctionBay公司著,RecurDynTM/Track(LM)
[16]卢进军,魏来生,赵韬硕.基于RecurDyn的履带车辆高速转向动力学仿真[J].现代机械,2008,(1):10-12.
[17]陆扬,马星国,舒启林.基于RecurDyn的行星轮系动力学仿真[J].沈阳理工大学报,2008,27(4):76-79.
[18] Benoit, Ph. Gotteland and A. Quibel ,Prediction of trafficability for tracked vehicle on broken soil:real size tests,Journal of Terramechanics[J], Volume 40, Issue 2, April 2003, Pages 135-160.
[19] Dror Rubinstein, James L. Coppock. A detailed single-link track model for multi-body dynamic simulation of crawlers[J]. Journal of Terramechanics, Volume 44, Issue 5, November 2007, Pages 355-364.
[20] H. Ergin, O. Acaroglu. The effect of machine design parameters on the stability of a roadheader[J]. Tunnelling and Underground Space Technology, Volume 22, Issue 1, January 2007, Pages 80-89.
[21] W.Merhof ,E.Hackbarth.韩雪梅等译.履带车辆行驶力学[M].北京:国防工业出版社,1989:36-62.
[22]李太杰.工程机械底盘理论与性能[M].北京:人民交通出版社,1989:1-26.
[23]郁录平.工程机械底盘设计[M].北京:人民交通出版社,2004:1-17.
[24] A Bodin ,Development of a tracked vehicle to study the influence of vehicle parameters on tractive performance in soft terrainJournal of Terramechanics[J], Volume 36, Issue 3, July 1999, Pages 167-181.
[25] D. T. Tran, J. O'Brien, T. Muro. An optimal method for the design of a robotic tracked vehicle to operate over fresh concrete under steering motion[J]. Journal of Terramechanics, Volume 39, Issue 1, January 2002, Pages 1-22
[26] D. T. Tran and T. Muro , Effect of an innovative vertical vibro-tracked vehicle on soil compactionJournal of Terramechanics[J], Volume 41, Issue 1, January 2004, Pages 1-23.
[27]罗敏芝,向复生,宋晓.基于RecurDyn的坦克动力学分析与仿真[J].第六届全国仿真器学术会议,2007:85-87.
[28] D. Rubinstein and R. Hitron ,A detailed multi-body model for dynamic simulation of off-road tracked vehicles,Journal of Terramechanics[J], Volume 41, Issues 2-3, April-July 2004, Pages 163-173.
[29]赵国栋.煤矿井下双履带行走机械转向方式的探讨[J].煤炭技术,2007,(11):47-49.
[30] MT/T910-2002,悬臂式掘进机履带行走机构设计导则[S].北京:中国煤炭工业出版社,2002.
[31] H·Я·哈尔胡塔,曹相云译.压实土壤理论及机械[M].北京:水利出版社,1957:1-39.
[32]马伟标,王红岩,程军伟.履带车辆软土通过性能影响仿真[J].计算机辅助工程,2006,15:257-259.
[33]宋海军,李军,王琛.坚实地面上履带车辆转向过程仿真与试验研究[J].车辆与动力技术,2005,(3):45-49.
[34]李春英,王斌.煤矿井下履带车辆转向阻力矩的计算[J].太原理工大学学报,2007,38(4):336-338.
[35]濮良贵,纪名刚.机械设计[M].北京:高等教育出版社,2001:163-180.
[36]隋文涛.大型矿用挖掘机履带行走装置动力学仿真研究[D].长春:吉林大学,2007.
[37] Stefan Reh, Jean-Daniel Beley, Siddhartha Mukherjee, Eng Hui Khor. Probabilistic finite element analysis using ANSYS[J]. Structural Safety, Volume 28, Issues 1-2, January-April 2006, Pages 17-43.
[38] A. Ghorbanpour Arani, R. Rahmani, A. Arefmanesh. Elastic buckling analysis of single-walled carbon nanotube under combined loading by using the ANSYS software[J]. Physica E: Low-dimensional Systems and Nanostructures, Volume 40, Issue 7, May 2008, Pages 2390-2395.
[39]周长城,胡仁喜,熊文波.ANSYS11.0基础与典型范例[M].北京:电子工业出版社,2007:1 95-257.
[40]叶先磊,史亚杰.ANSYS工程分析软件应用实例[M].北京:清华大学出版社,2003.
[41]孙军,经树栋.CAD与ANSYS的接口探讨[J].应用软件.2004, 2:55-57.
[42]张发琼.矿用高强度扁平接链环有限元优化设计与实验应力分析[D].阜新:辽宁工程技术大学,2003.