本文選題：礦用挖掘機(jī)　切入點(diǎn)：前端工作機(jī)構(gòu)　出處：《太原理工大學(xué)》2016年碩士論文　論文類型：學(xué)位論文

【摘要】：機(jī)械式挖掘機(jī)在露天煤礦開采生產(chǎn)活動(dòng)中發(fā)揮著不可替代的作用,具有高產(chǎn)、高效、高耗等特點(diǎn)。西部地區(qū)近年不斷有大型煤礦投入生產(chǎn),其中不乏大型露天煤礦,機(jī)械式挖掘機(jī)需求連年增長(zhǎng)。優(yōu)異的挖掘機(jī)性能不僅能提高挖掘效率,提高機(jī)器使用壽命,也反映了國(guó)家重型機(jī)械制造的實(shí)力。在挖掘過程中,挖掘機(jī)的前端工作機(jī)構(gòu)的性能優(yōu)劣對(duì)整機(jī)的工作效果有著直接影響,因此有必要對(duì)前端工作機(jī)構(gòu)的性能進(jìn)行深入研究。課題獲得國(guó)家高技術(shù)研究發(fā)展計(jì)劃(863計(jì)劃)項(xiàng)目“75m3大型露天礦用挖掘機(jī)研制”(NO.2012AA062001)的資助。本文以太原重工自主研發(fā)的WK-75系列大型礦用挖掘機(jī)前端工作機(jī)構(gòu)為研究對(duì)象,主要研究?jī)?nèi)容如下:首先深入探討機(jī)械式挖掘機(jī)挖掘軌跡數(shù)學(xué)模型,分析了對(duì)數(shù)螺旋線軌跡的理論推導(dǎo)過程不完善之處,并采用機(jī)構(gòu)運(yùn)動(dòng)學(xué)方法對(duì)斗桿的運(yùn)動(dòng)進(jìn)行分解與合成,進(jìn)而推導(dǎo)出隨推壓提升速度變化的挖掘軌跡數(shù)學(xué)模型。其次,依托機(jī)構(gòu)運(yùn)動(dòng)學(xué)挖掘軌跡,構(gòu)建了挖掘后角、提升鋼絲繩與斗桿中心線夾角、挖掘體積、初始投放角、出料角、最大切削厚度、挖掘阻力等數(shù)學(xué)模型,并采用ADAMS/Cable模塊建立鋼絲繩,進(jìn)而完成挖掘機(jī)數(shù)字化樣機(jī)。仿真后,測(cè)量推壓軸中心到鏟斗與提梁鉸孔間距離等各參數(shù),分析了切削后角和提升鋼絲繩與斗桿中心線夾角在挖掘過程的變化規(guī)律。對(duì)比研究了虛擬樣機(jī)仿真、機(jī)構(gòu)運(yùn)動(dòng)學(xué)、對(duì)數(shù)螺旋線三組的挖掘軌跡。再次,在Patran中生成起重臂和斗桿的模態(tài)中性文件,并導(dǎo)入ADAMS中的挖掘機(jī)多剛體模型。采用這種剛?cè)狁詈戏椒?建立了WK-75剛-柔耦合虛擬樣機(jī)模型。仿真分析對(duì)比了多剛體系統(tǒng)和剛?cè)狁詈舷到y(tǒng)中運(yùn)動(dòng)參數(shù)的差異。對(duì)起重臂和斗桿在挖掘過程中的三種工況下的應(yīng)力變化情況進(jìn)行了深入研究,獲得了挖掘過程中的應(yīng)力變化規(guī)律,可以為后續(xù)疲勞分析提供合理動(dòng)態(tài)應(yīng)力譜。最后,選取提升速度、推壓速度、挖掘位置參數(shù)為設(shè)計(jì)變量,結(jié)構(gòu)尺寸和挖掘體積為約束,選取挖掘后角變化最小、提升鋼絲繩與斗桿中心線夾角最大和挖掘體積最大為目標(biāo)函數(shù),采用非線性二次規(guī)劃Pointer算法,Isight與Matlab聯(lián)合仿真進(jìn)行優(yōu)化設(shè)計(jì),并將優(yōu)化前后的參數(shù)進(jìn)行分析比較檢驗(yàn)優(yōu)化效果。
[Abstract]:Mechanical excavators play an irreplaceable role in open-pit coal mining, and have the characteristics of high yield, high efficiency and high consumption. In recent years, large coal mines have been put into production in the western region, among which there are many large open pit coal mines. The demand for mechanical excavators has been increasing year after year. Excellent excavator performance can not only improve the efficiency and service life of the machine, but also reflect the strength of the national heavy machinery manufacturing. The performance of the front-end working mechanism of the excavator has a direct impact on the working effect of the whole machine. Therefore, it is necessary to conduct in-depth research on the performance of front-end working mechanism. The project is supported by the National High Technology Research and Development Program (NRDP) "75m3 large open-pit excavator development" (no. 2012AA062001). This paper is based on Taiyuan heavy Industry Autonomous Research. The front-end working mechanism of WK-75 series large-scale mining excavator is the object of study. The main research contents are as follows: firstly, the mathematical model of excavating trajectory of mechanical excavator is deeply discussed, and the imperfections in the theoretical derivation of logarithmic spiral trajectory are analyzed, and the kinematics method of mechanism is used to decompose and synthesize the motion of bucket rod. Then, the mathematical model of mining track is derived, which changes with the speed of pushing and lifting. Secondly, based on the kinematics track of the mechanism, the mining rear angle, the angle between the hoisting wire rope and the central line of the bucket rod, the excavating volume, the initial drop angle and the discharging angle are constructed. The maximum cutting thickness, digging resistance and other mathematical models are used to establish the wire rope with ADAMS/Cable module, and then the digitized prototype of the excavator is completed. After simulation, the distance between the center of the pushing shaft and the bucket and the hinge of the lifting beam is measured. In this paper, the variation law of the angle between the cutting back angle and the angle between the hoisting wire rope and the central line of the bucket rod in the mining process is analyzed. Three groups of mining tracks of virtual prototype simulation, kinematics of mechanism and logarithmic spiral line are compared and studied. The modal neutral files of lifting arm and bucket rod are generated in Patran, and the multi-rigid body model of excavator in ADAMS is introduced. The rigid-flexible coupling method is used. The WK-75 rigid-flexible coupling virtual prototyping model is established. The differences of motion parameters between multi-rigid body system and rigid-flexible coupling system are analyzed and compared by simulation. The stress changes of lifting arm and bucket rod under three conditions during excavation are analyzed and compared. A thorough study was carried out. The law of stress variation in mining process is obtained, which can provide a reasonable dynamic stress spectrum for subsequent fatigue analysis. Finally, the lifting speed, pushing speed, mining position parameter are selected as design variables, structure size and excavation volume as constraints. The minimum change of the rear angle, the maximum angle between the hoisting wire rope and the central line of the bucket rod, and the maximum volume of the excavating are selected as the objective functions, and the nonlinear quadratic programming (Pointer) algorithm is used to optimize the design by using the Pointer algorithm of nonlinear quadratic programming and the joint simulation of Matlab and Isight. The parameters before and after optimization are analyzed and compared to verify the optimization effect.
【學(xué)位授予單位】：太原理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：TD422.2

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本文編號(hào)：1637585