WK35挖掘機(jī)最優(yōu)挖掘軌跡設(shè)計(jì)和隨機(jī)振動(dòng)分析
發(fā)布時(shí)間：2019-02-12 06:47
【摘要】：挖掘軌跡的優(yōu)劣,直接影響著挖掘機(jī)的性能和生產(chǎn)效率。大型礦用挖掘機(jī)的運(yùn)行環(huán)境、載荷特點(diǎn)具有很強(qiáng)的隨機(jī)性和不確定性,主要表現(xiàn)：挖掘的土壤性質(zhì)呈隨機(jī)性,挖掘機(jī)工作的邊界條件具有不確定性,操作的隨機(jī)性和挖掘過程是不可逆的物理過程等幾個(gè)方面,是解決設(shè)計(jì)的源頭問題,是建立自己設(shè)計(jì)體系和挖掘理論的依據(jù),所以列為國家863子課題(2012AA062001)進(jìn)行研究。而斗桿部件的隨機(jī)振動(dòng)也關(guān)系著斗桿部件的工作時(shí)的穩(wěn)定性,疲勞和壽命。因此,挖掘軌跡和斗桿部件隨機(jī)振動(dòng)問題都是重要的研究?jī)?nèi)容。如何找到挖掘機(jī)優(yōu)化的挖掘軌跡,探究斗桿部件的振動(dòng)規(guī)律,對(duì)提高挖掘機(jī)的工作性能,有著非常現(xiàn)實(shí)的意義和理論意義。以WK35型號(hào)挖掘機(jī)為代表,以其現(xiàn)場(chǎng)剝離挖掘測(cè)試的數(shù)據(jù)為基礎(chǔ),建立工作機(jī)構(gòu)運(yùn)動(dòng)學(xué)模型,以測(cè)試數(shù)據(jù)的286個(gè)樣本中工作周期為45秒的17個(gè)樣本和33秒的13個(gè)樣本為計(jì)算條件,還原出離散的斗尖運(yùn)動(dòng)軌跡點(diǎn),并計(jì)算每個(gè)樣本在挖掘過程中所有的速度與力能參數(shù),并存入指定的表格中。然后根據(jù)出斗時(shí)斗內(nèi)土壤體積符合斗容要求,挖掘時(shí)間合理以及斗內(nèi)土壤單位體積能耗最小為依據(jù),篩選出同時(shí)符合該三個(gè)判據(jù)的樣本,45秒樣本有6個(gè),33秒樣本有4個(gè)。最終繪制出兩組共10個(gè)樣本的實(shí)際軌跡,根據(jù)軌跡的形狀與位置對(duì)經(jīng)過篩選的樣本進(jìn)行重整與分組,最終分別得到3條最優(yōu)軌跡：45秒的樣本組兩條最優(yōu)軌跡分別為ρ=11.16e03375θ和ρ=11.30e0.276θ；33秒樣本1條最優(yōu)軌跡為ρ=11.018e0.245θ。針對(duì)大型挖掘機(jī)工作時(shí)斗桿部件的隨機(jī)振動(dòng)問題,以受到隨機(jī)因素的激勵(lì)和系統(tǒng)的參數(shù)本身就是隨機(jī)的情況,建立動(dòng)力響應(yīng)的模型,計(jì)算出動(dòng)力響應(yīng)。為實(shí)現(xiàn)規(guī)范、準(zhǔn)確、快捷的實(shí)現(xiàn)計(jì)算挖掘機(jī)工作過程中重要參數(shù)和最優(yōu)挖掘軌跡設(shè)計(jì)開發(fā)了軟件系統(tǒng)。軟件系統(tǒng)可計(jì)算出切向與法向挖掘阻力,消耗能量,后角,物料體積等過程量以及具有代表性的最優(yōu)軌跡的功能,同時(shí)可以繪制曲線與存儲(chǔ)中間與最終計(jì)算結(jié)果的功能,達(dá)到提高工作效率和縮短設(shè)計(jì)周期的目的。
[Abstract]:The advantages and disadvantages of excavating track directly affect the performance and production efficiency of excavator. In the operating environment of large excavator, the load characteristic has strong randomness and uncertainty, which mainly shows that the soil property of excavator is random, and the boundary condition of excavator work is uncertain. The randomness of operation and the mining process are irreversible physical processes, which are the source of the design and the basis for the establishment of our own design system and mining theory, so it is listed as the National 863 Subproject (2012AA062001) for research. The random vibration of bucket member also relates to the stability, fatigue and life of bucket member. Therefore, the excavation trajectory and the random vibration of bucket bar are important research contents. How to find the optimal excavator track and explore the vibration law of bucket rod parts is of great practical and theoretical significance to improve the working performance of excavator. The kinematics model of working mechanism is established on the basis of the data of WK35 excavator, and the kinematics model of working mechanism is established. The calculation conditions are 17 samples with work cycle of 45 seconds and 13 samples with 33 seconds of test data. The discrete trajectory points of bucket tip motion are restored and all the velocity and force energy parameters of each sample are calculated and stored in a specified table. Then, according to the requirement of bucket volume, reasonable excavation time and minimum energy consumption per unit volume of soil in the bucket, the samples which accord with the three criteria were screened out, 6 samples in 45 seconds and 4 samples in 33 seconds. Finally, the actual tracks of two groups of 10 samples are drawn, and the selected samples are regrouped and grouped according to the shape and position of the trajectory. Finally, three optimal trajectories are obtained: 蟻 = inf trillion 胃 and 蟻 = 11.30e0.276 胃 for the sample set of 45 seconds; The optimal trajectory of 33 second sample is 蟻 = 11.018e0.245 胃. In order to solve the problem of random vibration of bucket bar components in large excavators, the dynamic response model is established and the dynamic response is calculated in the light of the random excitation and the random parameters of the system. The software system is developed to realize the standard, accurate and fast calculation of the important parameters and the optimal excavation trajectory design in the working process of the excavator. The software system can calculate the process quantities of tangential and normal mining resistance, energy consumption, back angle, material volume, and the function of representative optimal trajectory. At the same time, it can draw curves and store the intermediate and final calculation results. To achieve the purpose of improving working efficiency and shortening the design cycle.
【學(xué)位授予單位】：東北大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：TU621
本文編號(hào)：2420159
[Abstract]:The advantages and disadvantages of excavating track directly affect the performance and production efficiency of excavator. In the operating environment of large excavator, the load characteristic has strong randomness and uncertainty, which mainly shows that the soil property of excavator is random, and the boundary condition of excavator work is uncertain. The randomness of operation and the mining process are irreversible physical processes, which are the source of the design and the basis for the establishment of our own design system and mining theory, so it is listed as the National 863 Subproject (2012AA062001) for research. The random vibration of bucket member also relates to the stability, fatigue and life of bucket member. Therefore, the excavation trajectory and the random vibration of bucket bar are important research contents. How to find the optimal excavator track and explore the vibration law of bucket rod parts is of great practical and theoretical significance to improve the working performance of excavator. The kinematics model of working mechanism is established on the basis of the data of WK35 excavator, and the kinematics model of working mechanism is established. The calculation conditions are 17 samples with work cycle of 45 seconds and 13 samples with 33 seconds of test data. The discrete trajectory points of bucket tip motion are restored and all the velocity and force energy parameters of each sample are calculated and stored in a specified table. Then, according to the requirement of bucket volume, reasonable excavation time and minimum energy consumption per unit volume of soil in the bucket, the samples which accord with the three criteria were screened out, 6 samples in 45 seconds and 4 samples in 33 seconds. Finally, the actual tracks of two groups of 10 samples are drawn, and the selected samples are regrouped and grouped according to the shape and position of the trajectory. Finally, three optimal trajectories are obtained: 蟻 = inf trillion 胃 and 蟻 = 11.30e0.276 胃 for the sample set of 45 seconds; The optimal trajectory of 33 second sample is 蟻 = 11.018e0.245 胃. In order to solve the problem of random vibration of bucket bar components in large excavators, the dynamic response model is established and the dynamic response is calculated in the light of the random excitation and the random parameters of the system. The software system is developed to realize the standard, accurate and fast calculation of the important parameters and the optimal excavation trajectory design in the working process of the excavator. The software system can calculate the process quantities of tangential and normal mining resistance, energy consumption, back angle, material volume, and the function of representative optimal trajectory. At the same time, it can draw curves and store the intermediate and final calculation results. To achieve the purpose of improving working efficiency and shortening the design cycle.
【學(xué)位授予單位】：東北大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：TU621
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