挖掘装载机装载工作装置动力分析、动态应力仿真研究及动臂结构拓扑优化
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摘要
论文首先采用多体机械系统动力学与液压系统相结合的基本理论和方法,在多体系统分析软件ADAMS中建立了挖掘装载机装载工作装置多体机械系统和液压系统模型,分析了装载工作装置在液压系统驱动下工作的动力性能。
其次采用多体系统与有限元分析相结合的方法,建立了完整的装载工作装置的刚—弹耦合体模型,分析了装载工作装置在地面铲掘、举升等工况下的动态应力,得到了弹性部件的应力时间历程和瞬时动态应力分布云图,并通过试验研究证明了该方法的正确性。分析结果为其疲劳寿命分析奠定了重要的基础。
最后基于大型有限元软件ANSYS的二次开发语言APDL实现了渐进结构优化法和改进的渐进结构优化法——双向渐进结构优化法,并采用双向渐进结构优化法对动臂结构进行拓扑优化,得到了动臂合理的拓扑形状。
总之,本文对挖掘装载机装载工作装置进行了系统、深入的研究工作,在工作装置的动态应力研究以及动臂结构拓扑优化方面有创新性成果,为产品设计、改进提供了依据。同时,本文提出的一些方法可以应用到其他工程结构的动力分析、动态应力研究以及连续体结构的拓扑优化中。
本文对装载工作装置特殊八杆机构的研究结果作为厂校协作项目应用在山东临工工程机械厂产品的设计改进中,并投产获取了显著效益。
Backhoe loaders are high-tech product and have two capacities of excavating and loading.They were designed and produced in developed countries in the eighties of the twentiethcentury. They have broad purpose and are fit for municipal constructions, especially for diggingand laying pipelines. Equipments of backhoe loaders are various except for buckets and dredgebuckets, example for grab bucket, agitator, lifting fork, hydraulic hammer and so on. So theyplay important role in constructing roads, capital construction, mine, oil fields, irrigation works,loading materials etc.
Backhoe loaders developed very late and were being lagging state. The velocity ofdeveloping is very slow. At present research on special eight bars mechanism of loadingequipment is little at home. Research on dynamic performance of the mechanism is not enoughand optimization is so little. Such as lift arm, the shape is still designed on trial and errormethod and lacks theoretical foundations.
This dissertation researched dynamic characteristic, dynamic stress and topologicaloptimization of lift-arm based on the project—“Research and Development on different typesof linkage mechanism of loader equipment”. The dynamic characteristic was analyzed based oncoupling hydraulic systems and multi-body mechanical systems;dynamic stress of engineeringmechanism was researched by way of combining multi-body systems and finite elementmethod based on ADAMS(Automatic Dynamic Analysis of Mechanical Systems) andANSYS;topological structure of lift-arm was optimized based on BESO(BidirectionalEvolutionary Structure Optimization).
The main contents and research methods are presented in the following text.
1. These theories of multi-body systems in ADAMS was expatiated systematically.Methods of building and solving the Lagrange's equation in multi-body systemswere presented in detail;Methods and theory of building the elastic bodies wereanalyzed;finally discussed the combining of multi-body systems and finiteelement methods.2. For the first time multi-body mechanical systems model and hydraulic systemsmodel of backhoe loader were built in ADAMS and coupling simulation wasachieved. Interactive actions in all working situation were analyzed includingscooping, lifting and unloading. This section paid attention to analyzing ontranslation, constraint force of joint and the pressure of head end and rod end ofactuator. The multi-body mechanical models of backhoe loader were built inCATIA then transferred into ADAMS and constricted;the hydraulic systemsmodels were built in ADAMS/Hydraulics and coupling simulation was achievedby actuators.3. Modal analysis of elastic body of loading equipment such as lift arm, drag bar androcker were completed in ANSYS, and then the MNF files were produced byspecial interface with ADAMS. Working equipment models of Rigid-elasticcoupling bodies were completed in ADAMS and laid a foundation for dynamicstress simulation.4. For the first time dynamic stress of working equipment was researched in allworking conditions including scooping, lifting and so on. And the dynamic stressdistribution characteristics of elastic components in time domain are obtained afterdynamic simulation. Thus the results laid a foundation for fatigue analysis and lifeestimate.5. Theories of ESO(Evolutionary Structural Optimization)were expatiated in detailThis method was achieved by secondary development in ANSYS and the APDL(ANSYS Parametric Design Language)was used. Validity and practicability ofESO method were testified by a simple example.6. Topological optimization on lift-arm of working equipment was implemented forthe first time. Firstly, the finite element models were built in ANSYS, and then
lift-arm of loading equipment is analyzed by BESO(Bidirectional EvolutionaryStructure Optimization)method under multiple loads and the results shows thatthis developed method was efficient and practicability. The method can be used intopological optimization without any limit.The meanings of this dissertation are presented in the following text.1. The meaning of dynamic analysis of equipment: mechanical analysis methods ofloading equipment had been static condition analysis and the dynamic analysis ofmain components was under scooping condition on the ground. The weight ofworking equipment is heavy so oscillating was produced on it under initialaccelerate and final decelerate and subsidiary loads came into being. So the dynamicanalysis had important meaning on loading equipment.2. The meaning of mechanical systems and hydraulic systems coupling simulation:Backhoe loaders are driven by hydraulic systems. Usually the dynamic analysishadn't considered the influence of hydraulic systems. This paper the models ofmulti-body mechanical systems and models of hydraulic systems were built and thencoupling simulation was implemented. Finally the dynamic performances ofequipment on hydraulic driving were obtained and modeling the interaction betweenthe hydraulic system and multi-body dynamics models. This method is suitable forany mechanical systems driven by hydraulic systems.3. The meaning of dynamic stress of loading equipment: This method makes dynamicstress of loading equipment obtain in design phrase and laid a foundation for fatigueanalysis and life estimate. Thus can shorten designing time , save cost and enhancingthe market compete capacity. This method can be used to aviation, transportationmobiles on the land or on the sea and so on.4. The meaning of lift-arm structural topological optimization: The lift-arm topologicalstructure had even stress distribution and smaller maximal stress by the BESOmethod. And had important meaning of shorten structural weight and heighteningworking efficiency. This method can be extended to optimize engineering structureor complicated continuum structure.In a word, this dissertation researched loading equipment of the backhoe loader
thoroughly and there were innovative achievements in dynamic stress and lift-arm topologicaloptimization. Thus results supplied warrant for designing and improving product. At the sametime, these methods can be used to other domains for dynamic analysis, dynamic stress andtopological optimization.
其次采用多体系统与有限元分析相结合的方法,建立了完整的装载工作装置的刚—弹耦合体模型,分析了装载工作装置在地面铲掘、举升等工况下的动态应力,得到了弹性部件的应力时间历程和瞬时动态应力分布云图,并通过试验研究证明了该方法的正确性。分析结果为其疲劳寿命分析奠定了重要的基础。
最后基于大型有限元软件ANSYS的二次开发语言APDL实现了渐进结构优化法和改进的渐进结构优化法——双向渐进结构优化法,并采用双向渐进结构优化法对动臂结构进行拓扑优化,得到了动臂合理的拓扑形状。
总之,本文对挖掘装载机装载工作装置进行了系统、深入的研究工作,在工作装置的动态应力研究以及动臂结构拓扑优化方面有创新性成果,为产品设计、改进提供了依据。同时,本文提出的一些方法可以应用到其他工程结构的动力分析、动态应力研究以及连续体结构的拓扑优化中。
本文对装载工作装置特殊八杆机构的研究结果作为厂校协作项目应用在山东临工工程机械厂产品的设计改进中,并投产获取了显著效益。
Backhoe loaders are high-tech product and have two capacities of excavating and loading.They were designed and produced in developed countries in the eighties of the twentiethcentury. They have broad purpose and are fit for municipal constructions, especially for diggingand laying pipelines. Equipments of backhoe loaders are various except for buckets and dredgebuckets, example for grab bucket, agitator, lifting fork, hydraulic hammer and so on. So theyplay important role in constructing roads, capital construction, mine, oil fields, irrigation works,loading materials etc.
Backhoe loaders developed very late and were being lagging state. The velocity ofdeveloping is very slow. At present research on special eight bars mechanism of loadingequipment is little at home. Research on dynamic performance of the mechanism is not enoughand optimization is so little. Such as lift arm, the shape is still designed on trial and errormethod and lacks theoretical foundations.
This dissertation researched dynamic characteristic, dynamic stress and topologicaloptimization of lift-arm based on the project—“Research and Development on different typesof linkage mechanism of loader equipment”. The dynamic characteristic was analyzed based oncoupling hydraulic systems and multi-body mechanical systems;dynamic stress of engineeringmechanism was researched by way of combining multi-body systems and finite elementmethod based on ADAMS(Automatic Dynamic Analysis of Mechanical Systems) andANSYS;topological structure of lift-arm was optimized based on BESO(BidirectionalEvolutionary Structure Optimization).
The main contents and research methods are presented in the following text.
1. These theories of multi-body systems in ADAMS was expatiated systematically.Methods of building and solving the Lagrange's equation in multi-body systemswere presented in detail;Methods and theory of building the elastic bodies wereanalyzed;finally discussed the combining of multi-body systems and finiteelement methods.2. For the first time multi-body mechanical systems model and hydraulic systemsmodel of backhoe loader were built in ADAMS and coupling simulation wasachieved. Interactive actions in all working situation were analyzed includingscooping, lifting and unloading. This section paid attention to analyzing ontranslation, constraint force of joint and the pressure of head end and rod end ofactuator. The multi-body mechanical models of backhoe loader were built inCATIA then transferred into ADAMS and constricted;the hydraulic systemsmodels were built in ADAMS/Hydraulics and coupling simulation was achievedby actuators.3. Modal analysis of elastic body of loading equipment such as lift arm, drag bar androcker were completed in ANSYS, and then the MNF files were produced byspecial interface with ADAMS. Working equipment models of Rigid-elasticcoupling bodies were completed in ADAMS and laid a foundation for dynamicstress simulation.4. For the first time dynamic stress of working equipment was researched in allworking conditions including scooping, lifting and so on. And the dynamic stressdistribution characteristics of elastic components in time domain are obtained afterdynamic simulation. Thus the results laid a foundation for fatigue analysis and lifeestimate.5. Theories of ESO(Evolutionary Structural Optimization)were expatiated in detailThis method was achieved by secondary development in ANSYS and the APDL(ANSYS Parametric Design Language)was used. Validity and practicability ofESO method were testified by a simple example.6. Topological optimization on lift-arm of working equipment was implemented forthe first time. Firstly, the finite element models were built in ANSYS, and then
lift-arm of loading equipment is analyzed by BESO(Bidirectional EvolutionaryStructure Optimization)method under multiple loads and the results shows thatthis developed method was efficient and practicability. The method can be used intopological optimization without any limit.The meanings of this dissertation are presented in the following text.1. The meaning of dynamic analysis of equipment: mechanical analysis methods ofloading equipment had been static condition analysis and the dynamic analysis ofmain components was under scooping condition on the ground. The weight ofworking equipment is heavy so oscillating was produced on it under initialaccelerate and final decelerate and subsidiary loads came into being. So the dynamicanalysis had important meaning on loading equipment.2. The meaning of mechanical systems and hydraulic systems coupling simulation:Backhoe loaders are driven by hydraulic systems. Usually the dynamic analysishadn't considered the influence of hydraulic systems. This paper the models ofmulti-body mechanical systems and models of hydraulic systems were built and thencoupling simulation was implemented. Finally the dynamic performances ofequipment on hydraulic driving were obtained and modeling the interaction betweenthe hydraulic system and multi-body dynamics models. This method is suitable forany mechanical systems driven by hydraulic systems.3. The meaning of dynamic stress of loading equipment: This method makes dynamicstress of loading equipment obtain in design phrase and laid a foundation for fatigueanalysis and life estimate. Thus can shorten designing time , save cost and enhancingthe market compete capacity. This method can be used to aviation, transportationmobiles on the land or on the sea and so on.4. The meaning of lift-arm structural topological optimization: The lift-arm topologicalstructure had even stress distribution and smaller maximal stress by the BESOmethod. And had important meaning of shorten structural weight and heighteningworking efficiency. This method can be extended to optimize engineering structureor complicated continuum structure.In a word, this dissertation researched loading equipment of the backhoe loader
thoroughly and there were innovative achievements in dynamic stress and lift-arm topologicaloptimization. Thus results supplied warrant for designing and improving product. At the sametime, these methods can be used to other domains for dynamic analysis, dynamic stress andtopological optimization.
引文
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