折臂式高空作业车的结构设计与动态特性研究
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摘要
本文所研究的折臂式高空作业车是在特定环境下,为适应国家重大工程项目复杂安装与操作工况而研制的专用设备。与一般高空作业车的工作条件不同,它工作于较为狭窄的空间和场地中,用于不同高度、不同部位及不同方向的高精密光学组件的拆装。不仅要求安全可靠,还对尺寸大小、结构与机构形式、整机重量和结构的刚度、强度、稳定性等都提出了较为苛刻的要求。因此,一台新型的专用折臂式高空作业车的设计及分析是实际样机研制必不可少的重要前提。本文的工作正是围绕此任务而重点展开。
作为实际样机研制的先行工作,折臂式高空作业车的设计分析的主要内容有如下几个方面:总体方案设计、主要机构与结构设计、结构的静力学和动力学分析。本文的工作不仅包含理论的计算分析,并还将配合整体研发的进度,完成设计图纸的绘制。
首先根据各种特殊的需求,结合具体的工作环境,选定了结构型式,规划了整车组成,确定了设计指标,然后提出了设计方案,并对工作空间进行了校核。总体方案设计完成后,对主体结构与主要机构进行了详细设计计算。采用的设计方法包括传统的经验法、设计计算、查询设计手册等,应用的设计工具有AutoCAD、Pro/E、Matlab等计算机辅助设计与计算软件。二维的设计结果用于获得工程图以指导加工制造,三维的设计结果便于交流时的理解与观看,并可避免或减少干涉之类的错误。
设计工作完成后,分别对主体结构的强度、刚度、稳定性进行了校核计算,应用大型通用有限元分析软件ANSYS对主体结构的“两种主要工况的极限受力情况”进行了分析计算。整个过程包括各部分的有限元建模、整车组装与求解计算、对计算结果的分析。所选用的单元包括模拟主体结构的板壳单元shell63、模拟液压油缸的梁单元beam44、以及模拟平行四边形连杆机构的杆单元link8。
考虑到高空作业车在运动过程中的受力与振动特性,对其进行了动态特性的研究。首先,应用ANSYS对转台和工作装置进行模态分析,求得其固有频率和模态振型,以指导后续设计、改进及使用;然后,对折臂机构应用等效元素法进行了动力学分析,建立了折臂机构的动力学模型,并对其进行了ADAMS仿真,得出了相关的特性曲线。
The folding-jib overhead working truck researched in this thesis is designed for the complex setting and operating condition of our country’s important project. It is a special equipment working in a special environment. Different with common overhead working truck in working environment, it works in a narrow and small space. It is used for installing and dismounting of different height、different place、and different direction’s high precision optical module. It must be safe and reliable. It is also strict on the size、the style of structure and mechanism、the entire equipment’s weight and its strength、toughness and stability. So, a new and special folding-jib overhead working truck’s design and analysis is the important premise of the real prototype’s research and manufacture. This thesis’s work is to carry out from the task.
As the predecessor activity of the real prototype, the main content of the folding-jib overhead working truck’s design and analysis is: the general scheme design、the main mechanism and structure’s design、the statics and dynamics analysis of structure. This thesis’s work not only contains computational analysis in theory, but also the design drawing’s drawing with the progress of the whole research and development.
According to the special demands and working environment, firstly made the choice of the structural style, programmed the component of the entire car, specified the design objective, and then advanced the design programme. After that, I checked the most basic and important objective work space. After the general plan design finished, I designed the main structure and mechanism in detail, and got the outcome. The method having been used contains the traditional empirical method、design calculation、inquiring the design handbook, and so on. The tools having been used contain some of the computer aided design and calculation software such as AutoCAD、ProE、Matlab, and so on. The 2D outcome of design is used to obtain the engineering drawing to guide to put into production. And the 3D outcome of design is used to understanding and viewing in communication. And it also can help avoiding the design fault like interference.
After the work of design finished, checked the main structure’s strength、stiffness and stability. In this thesis, chose the widely used FEA software ANSYS for the calculation and analysis of the entire car’s structure. Calculated and analyzed the two worst working conditions in all. The whole process contains three steps: the model building of every part、the assembling of the entire car and the solution、the analysis of the computed results. There are three types of elements. The element of Shell63 is used to simulate the main structure. The element of Beam44 is used to simulate the hydraulic cylinder, and the Link8 element is used to simulate the parallelogram linkage.
Considering the feature of stress and vibration in the process of the sports. The study of dynamic characteristics has been done. Do the modal analysis to the turntable and working equipment by ANSYS. And obtain the natural frequency and modal shape to guide the follow-up design、improvement and use. Take the folding mechanism as example, introduce the dynamics analysis process using the equivalent finite element method. Build the dynamics model of the folding mechanism. Analyze the folding mechanism by ADAMS and obtain its relevant characteristic curve.
作为实际样机研制的先行工作,折臂式高空作业车的设计分析的主要内容有如下几个方面:总体方案设计、主要机构与结构设计、结构的静力学和动力学分析。本文的工作不仅包含理论的计算分析,并还将配合整体研发的进度,完成设计图纸的绘制。
首先根据各种特殊的需求,结合具体的工作环境,选定了结构型式,规划了整车组成,确定了设计指标,然后提出了设计方案,并对工作空间进行了校核。总体方案设计完成后,对主体结构与主要机构进行了详细设计计算。采用的设计方法包括传统的经验法、设计计算、查询设计手册等,应用的设计工具有AutoCAD、Pro/E、Matlab等计算机辅助设计与计算软件。二维的设计结果用于获得工程图以指导加工制造,三维的设计结果便于交流时的理解与观看,并可避免或减少干涉之类的错误。
设计工作完成后,分别对主体结构的强度、刚度、稳定性进行了校核计算,应用大型通用有限元分析软件ANSYS对主体结构的“两种主要工况的极限受力情况”进行了分析计算。整个过程包括各部分的有限元建模、整车组装与求解计算、对计算结果的分析。所选用的单元包括模拟主体结构的板壳单元shell63、模拟液压油缸的梁单元beam44、以及模拟平行四边形连杆机构的杆单元link8。
考虑到高空作业车在运动过程中的受力与振动特性,对其进行了动态特性的研究。首先,应用ANSYS对转台和工作装置进行模态分析,求得其固有频率和模态振型,以指导后续设计、改进及使用;然后,对折臂机构应用等效元素法进行了动力学分析,建立了折臂机构的动力学模型,并对其进行了ADAMS仿真,得出了相关的特性曲线。
The folding-jib overhead working truck researched in this thesis is designed for the complex setting and operating condition of our country’s important project. It is a special equipment working in a special environment. Different with common overhead working truck in working environment, it works in a narrow and small space. It is used for installing and dismounting of different height、different place、and different direction’s high precision optical module. It must be safe and reliable. It is also strict on the size、the style of structure and mechanism、the entire equipment’s weight and its strength、toughness and stability. So, a new and special folding-jib overhead working truck’s design and analysis is the important premise of the real prototype’s research and manufacture. This thesis’s work is to carry out from the task.
As the predecessor activity of the real prototype, the main content of the folding-jib overhead working truck’s design and analysis is: the general scheme design、the main mechanism and structure’s design、the statics and dynamics analysis of structure. This thesis’s work not only contains computational analysis in theory, but also the design drawing’s drawing with the progress of the whole research and development.
According to the special demands and working environment, firstly made the choice of the structural style, programmed the component of the entire car, specified the design objective, and then advanced the design programme. After that, I checked the most basic and important objective work space. After the general plan design finished, I designed the main structure and mechanism in detail, and got the outcome. The method having been used contains the traditional empirical method、design calculation、inquiring the design handbook, and so on. The tools having been used contain some of the computer aided design and calculation software such as AutoCAD、ProE、Matlab, and so on. The 2D outcome of design is used to obtain the engineering drawing to guide to put into production. And the 3D outcome of design is used to understanding and viewing in communication. And it also can help avoiding the design fault like interference.
After the work of design finished, checked the main structure’s strength、stiffness and stability. In this thesis, chose the widely used FEA software ANSYS for the calculation and analysis of the entire car’s structure. Calculated and analyzed the two worst working conditions in all. The whole process contains three steps: the model building of every part、the assembling of the entire car and the solution、the analysis of the computed results. There are three types of elements. The element of Shell63 is used to simulate the main structure. The element of Beam44 is used to simulate the hydraulic cylinder, and the Link8 element is used to simulate the parallelogram linkage.
Considering the feature of stress and vibration in the process of the sports. The study of dynamic characteristics has been done. Do the modal analysis to the turntable and working equipment by ANSYS. And obtain the natural frequency and modal shape to guide the follow-up design、improvement and use. Take the folding mechanism as example, introduce the dynamics analysis process using the equivalent finite element method. Build the dynamics model of the folding mechanism. Analyze the folding mechanism by ADAMS and obtain its relevant characteristic curve.
引文
1王新琴.结构动态分析方法的发展和研究现状.科学教育家.2008,(4):390-391
2蔡雷.高空作业车结构分析及工作斗调平系统研究.吉林大学硕士学位论文.2005:1-2
3涂桥安.移动式高空作业平台的设计研究.机械设计与制造工程.2002,6:20-22
4朱世强.高空作业车多臂协调控制技术的研究.浙江大学硕士论文.1994:1-3
5柏红专,罗亮平.国内高空作业机械行业现状及发展方向.建筑机械.2006,(15): 54-56
6吴胜缔.如何提高我国高空作业车的技术水平.建筑机械化.1996,(5):36-39
7陈继军.我国高空作业车的生产与发展.城市车辆.1995,(01):40-42
8腾儒民.高空作业车的动力学分析.大连理工大学硕士学位论文.2002:1-5
9丁中立编译.21世纪高空作业车展望.建设机械技术管理.96,(5):38-39
10杜娟,唐传平.汽车行业标准高空作业车内容浅析.专用汽车.2004,(06):38-40
11 Zhang. Ming, Yang. Heqing, Li. Zhongkui. A Coupling Model of the Discontinuous Deformation Analysis Method and the Finite Element Method. Tsinghua Science & Technology . 2005, 10(2): 221-226
12 K.J.Bathe. Finite Element Procedures in Engineering Analysis. PRENTICE HALL 1982
13蒋红旗,刘玉.高空作业车转台有限元结构分析.设计.研究.分析.2008,(01): 49-50
14 Klaus-Jürgen Bathe. Finite Element Procedures. Prentice Hall, Inc. 1996:485-628
15孔庆璐编译.日本高空作业车统计概况.建筑机械.2007,(02): 28
16江浩,荣学文,樊炳辉.一种智能高空作业车的设计.煤矿机械.2003,(3):1-3
17 Samir Z. Al-Sadder. Exact Expressions for Stability Functions of a General Non-prismatic Beam-column Member. Journal of Constructional Steel Reaserch. 2004, 60(11): 561-584
18张亚欧,谷志飞,宋勇.ANSYS7.0有限元分析实用教程.清华大学出版社,2004:45-48
19张胜民.基于有限元软件ANSYS7.0的结构分析.清华大学出版社,2003:145-148
20韩邦成,张姝娜,房建成.磁悬浮反作用飞轮系统模态分析及试验研究.系统仿真学报.2008,20(3):763-766
21候珍秀,孙靖民.机械系统设计.哈尔滨工业大学出版社,2003:125-126
22李丙涛,谢肖礼,张二毛.ANSYS在巨型钢框架结构模态分析中的应用.山西建筑.2008,34(8):94-95
23李政.奥拓汽车变速箱箱体有限元模态分析.机械传动.2008,32(4):76-78
24 Walt Moore, Fitting Aerial Work Platforms to You Jobsite, Construction Equiments, May.1998, 56.
25车仁炜,胡长胜,陆念力.随车起重机变幅机构的动力学分析.建筑机械.2005,(2):68-70
26 Sun,Guangfu Liu,Jie. Mechanism and Machine Theory, v 41, n 11, November 2006, P1273-1288.
27 Preston.T.W,Sturgess.J.P. Implementation of the finite-element method into machine design procedures. Electrical Machines and Drives,1993, 9(6).P312 -317.
28田丽敏,郭维斌.全折叠臂小型高空作业车的调平机构.工程机械.2003,(02): 20-22
29 Wu.Jia-jang. Finite element modeling and experimental model testing of a three-dimensional framework. International Journal of Mechanical Scienses. 2004, 46(8): 1245-1266
30 Sander. M, Richard. H. A.. Experimental and numerical studies of external steel plate strengthened reinforced concrete coupling beams. Engineering Structures. 2005, 27(10): 1537-1550
31 Agrawal, O. P. al. dynamics Analysis of Multi-body Systems Using Component Models. Computers and structures. 2004, 21(6):12-15
32龚曙光,谢桂兰.ANSYS操作命令与参数化编程.机械工业出版社.2004,(4):1-9
33 GuangfuSun, Michael. Kleeberger, JieLiu. Complete dynamic calculation of lattice mobile crane during hoisting motion. Mechanism and Machine Theory. 2005, (4).P8
34 Mark, Green, Sean Halliday. A Geometric Modeling and Animation Systems for Virtual, Reality. Communications of the ACM, May, 1996, 39(5):47-53
35 Noguchi.Hiroshi, Uchida.Kazuhiro. Finite Element Method Analysis of Hybrid Structural Frames with Reinforced Concrete Columns and Steel Beams. Journal of Structural Engineering. 2004, 130(2):328-335
36 Kreja.Ireneusz,Mikulski.Tomasz, Szymczak.Czeslaw. Application of Superelements in Static Analysis of Thin-Walled Structures. Journal of Civil Engineering and Management. 2004, 10(2):113-122
37张培培,陶华,顾小锋.CAD/CAE集成中参数化有限元建模的研究.现代制造工程.2006,(9):62-63
38 Sung-Bo Kim, Moon-Young Kim. Improved formulation for spatial stability and free vibration of thin-walled tapered beams and space frames [J]. EngineeringStructures. 2000, 22 (5): 446-458
39田丽敏,郭维斌.全折叠臂小型高空作业车的调平机构.工程机械.2003,(2):20-22
40 Naoki Sugano, Etsujiro Imanishi, Koichi Honke. Dynamic Analysis of Planar Beams Moving Along the Axial Direction. Transactions of the Japan Society of Mechanical Engineers. 2001, 67(653): 37-42
41 Cartmell, M.P.; Whittaker, A.R.;Wu, Jia-Jang. Prediction of the vibration characteristics of a full-size structure from those of a scale model. Computers and Structures. 2002,80(18-19): 1461-1472
42 Wu.Jia-jang. Finite element modeling and experimental model testing of a three-dimensional framework. International Journal of Mechanical Scienses. 2004, 46(8): 1245-1266
43 M. Tnnaka, A. N. Bercin. Finite element modeling of the coupled bending and torsional free vibration of uniform beams with an arbitrary cross-section. Elsevier Science Inc. 1997, (21):339-344
2蔡雷.高空作业车结构分析及工作斗调平系统研究.吉林大学硕士学位论文.2005:1-2
3涂桥安.移动式高空作业平台的设计研究.机械设计与制造工程.2002,6:20-22
4朱世强.高空作业车多臂协调控制技术的研究.浙江大学硕士论文.1994:1-3
5柏红专,罗亮平.国内高空作业机械行业现状及发展方向.建筑机械.2006,(15): 54-56
6吴胜缔.如何提高我国高空作业车的技术水平.建筑机械化.1996,(5):36-39
7陈继军.我国高空作业车的生产与发展.城市车辆.1995,(01):40-42
8腾儒民.高空作业车的动力学分析.大连理工大学硕士学位论文.2002:1-5
9丁中立编译.21世纪高空作业车展望.建设机械技术管理.96,(5):38-39
10杜娟,唐传平.汽车行业标准高空作业车内容浅析.专用汽车.2004,(06):38-40
11 Zhang. Ming, Yang. Heqing, Li. Zhongkui. A Coupling Model of the Discontinuous Deformation Analysis Method and the Finite Element Method. Tsinghua Science & Technology . 2005, 10(2): 221-226
12 K.J.Bathe. Finite Element Procedures in Engineering Analysis. PRENTICE HALL 1982
13蒋红旗,刘玉.高空作业车转台有限元结构分析.设计.研究.分析.2008,(01): 49-50
14 Klaus-Jürgen Bathe. Finite Element Procedures. Prentice Hall, Inc. 1996:485-628
15孔庆璐编译.日本高空作业车统计概况.建筑机械.2007,(02): 28
16江浩,荣学文,樊炳辉.一种智能高空作业车的设计.煤矿机械.2003,(3):1-3
17 Samir Z. Al-Sadder. Exact Expressions for Stability Functions of a General Non-prismatic Beam-column Member. Journal of Constructional Steel Reaserch. 2004, 60(11): 561-584
18张亚欧,谷志飞,宋勇.ANSYS7.0有限元分析实用教程.清华大学出版社,2004:45-48
19张胜民.基于有限元软件ANSYS7.0的结构分析.清华大学出版社,2003:145-148
20韩邦成,张姝娜,房建成.磁悬浮反作用飞轮系统模态分析及试验研究.系统仿真学报.2008,20(3):763-766
21候珍秀,孙靖民.机械系统设计.哈尔滨工业大学出版社,2003:125-126
22李丙涛,谢肖礼,张二毛.ANSYS在巨型钢框架结构模态分析中的应用.山西建筑.2008,34(8):94-95
23李政.奥拓汽车变速箱箱体有限元模态分析.机械传动.2008,32(4):76-78
24 Walt Moore, Fitting Aerial Work Platforms to You Jobsite, Construction Equiments, May.1998, 56.
25车仁炜,胡长胜,陆念力.随车起重机变幅机构的动力学分析.建筑机械.2005,(2):68-70
26 Sun,Guangfu Liu,Jie. Mechanism and Machine Theory, v 41, n 11, November 2006, P1273-1288.
27 Preston.T.W,Sturgess.J.P. Implementation of the finite-element method into machine design procedures. Electrical Machines and Drives,1993, 9(6).P312 -317.
28田丽敏,郭维斌.全折叠臂小型高空作业车的调平机构.工程机械.2003,(02): 20-22
29 Wu.Jia-jang. Finite element modeling and experimental model testing of a three-dimensional framework. International Journal of Mechanical Scienses. 2004, 46(8): 1245-1266
30 Sander. M, Richard. H. A.. Experimental and numerical studies of external steel plate strengthened reinforced concrete coupling beams. Engineering Structures. 2005, 27(10): 1537-1550
31 Agrawal, O. P. al. dynamics Analysis of Multi-body Systems Using Component Models. Computers and structures. 2004, 21(6):12-15
32龚曙光,谢桂兰.ANSYS操作命令与参数化编程.机械工业出版社.2004,(4):1-9
33 GuangfuSun, Michael. Kleeberger, JieLiu. Complete dynamic calculation of lattice mobile crane during hoisting motion. Mechanism and Machine Theory. 2005, (4).P8
34 Mark, Green, Sean Halliday. A Geometric Modeling and Animation Systems for Virtual, Reality. Communications of the ACM, May, 1996, 39(5):47-53
35 Noguchi.Hiroshi, Uchida.Kazuhiro. Finite Element Method Analysis of Hybrid Structural Frames with Reinforced Concrete Columns and Steel Beams. Journal of Structural Engineering. 2004, 130(2):328-335
36 Kreja.Ireneusz,Mikulski.Tomasz, Szymczak.Czeslaw. Application of Superelements in Static Analysis of Thin-Walled Structures. Journal of Civil Engineering and Management. 2004, 10(2):113-122
37张培培,陶华,顾小锋.CAD/CAE集成中参数化有限元建模的研究.现代制造工程.2006,(9):62-63
38 Sung-Bo Kim, Moon-Young Kim. Improved formulation for spatial stability and free vibration of thin-walled tapered beams and space frames [J]. EngineeringStructures. 2000, 22 (5): 446-458
39田丽敏,郭维斌.全折叠臂小型高空作业车的调平机构.工程机械.2003,(2):20-22
40 Naoki Sugano, Etsujiro Imanishi, Koichi Honke. Dynamic Analysis of Planar Beams Moving Along the Axial Direction. Transactions of the Japan Society of Mechanical Engineers. 2001, 67(653): 37-42
41 Cartmell, M.P.; Whittaker, A.R.;Wu, Jia-Jang. Prediction of the vibration characteristics of a full-size structure from those of a scale model. Computers and Structures. 2002,80(18-19): 1461-1472
42 Wu.Jia-jang. Finite element modeling and experimental model testing of a three-dimensional framework. International Journal of Mechanical Scienses. 2004, 46(8): 1245-1266
43 M. Tnnaka, A. N. Bercin. Finite element modeling of the coupled bending and torsional free vibration of uniform beams with an arbitrary cross-section. Elsevier Science Inc. 1997, (21):339-344