80型轮式装载机结构系统动力特性研究
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摘要
论文结合“十二五”国家科技支撑计划课题“面向节能与安全的集成智能化工程机械装备研发”(课题编号：2013BAF07B04),依据轮式装载机实际工作情况,建立与其真实结构相符合的11自由度振动系统模型,结合虚拟激励法分析影响轮式装载机结构系统动力特性的主要因素。
轮式装载机是铲土运输机械的一种,广泛应用于矿山、建筑、农业、水利等大型工程领域,具有操作便利快捷,机动灵活,易于使用与维修等特点,是重要的工程机械设备之-
就现有我国轮式装载机的设计与研发趋势来看,生产与研发主要集中在3-5吨级机型上,其中尤以5吨级机型最为集中,但随着市场需求形势的变化,工程机械设备的发展日趋大型化,而且,为了提高工程作业效率,对轮式装载机的行驶速度与作业时的整车稳定性也提出了要求。轮式装载机的工作环境通常比较恶劣,路面条件较差,而轮式装载机自身的特点又使得车架与驱动桥之间采用螺栓固定连接,无弹性悬架设备,因而对于中长距离行驶及转场行驶工况,整车结构无法有效的缓冲和衰减高速行驶带来的冲击和振动,影响驾驶员的身心健康,降低装载机零部件的工作可靠性和使用寿命,成为制约轮式装载机向高速化、高效化发展的重要因素。因此,有必要对大型轮式装载机结构系统动力特性进行系统与深入的研究,找到影响其结构系统动力特性的相关因素,既能够有效改善驾驶员的操作舒适度,保持运载货物的完整性,又能够为日后装载机的发展与改进提供一定的理论依据。
本文基于试验实测数据,建立工作装置悬置弹性等效模型并根据实际工况对其动态特性进行分析,分析主要弹性减振组件的力学特性,建立与实际结构相符合的轮式装载机空间11自由度系统振动模型,使用虚拟激励法对轮式装载机结构系统动力特性进行系统研究,分析影响轮式装载机结构系统动力特性的主要因素,着重考虑外部激励变化,系统各响应量的变化规律,为提高轮式装载机的结构系统动力特性提供了理论依据,亦可作为机型改进与部件升级的理论参考。
本文根据80型轮式装载机技术数据建立其工作装置与前车架的刚—弹耦合模型,对80型轮式装载机工作装置正载与偏载工况的作业循环进行仿真,求得正载与不同偏载位置时,工作装置各关键铰点的受力,得出了偏载作用位置对不同铰点受力影响的变化规律。仿真结果表明,工作装置中受力最大的铰点是动臂与前车架铰接点,偏载工况下,这一铰点受力情况更为严峻。通过仿真分析得到作用于工作装置动臂油缸与铲斗油缸上的力,这是分析动臂油缸与铲斗油缸动态工作特性的基础。
本文对80型轮式装载机工作装置油缸的动态工作特性进行了研究,通过试验获得80型轮式装载机一个铲装循环工作油泵出口压力和动臂油缸以及铲斗油缸的有杆腔与无杆腔压力特性,建立开启与关闭行驶稳定系统两种不同工作状态下油缸的力学模型,得到其刚度系数和阻尼系数的通用表达式,基于试验实测数据研究工作装置动臂油缸和铲斗油缸的动态特性,得出了不同工况下动臂油缸和铲斗油缸的刚度系数与阻尼系数曲线,分析系统各参数对油缸的动态特性的影响。
本文建立轮式装载机弹性减振组件—座椅、橡胶减振器和轮胎的动力学模型,根据实际工况分析影响减振组件动力特性的各项因素。研究结果表明空气悬挂式轮式装载机座椅,在充气压力相同的情况下,可有效保持座椅高度与动力特性的稳定。本文还分析了正载与偏载工况下轮胎的载荷与力学特性,结果表明,在同等工作条件下,轮胎在充气压力为0.39MPa时刚度与阻尼特性最优,结构系统动力特性研究的结果也验证了这一结论。
本文系统介绍了虚拟激励法的理论基础,分析采用虚拟激励法研究轮式装载机结构系统动力特性的可行性、准确性与有效性。根据轮式装载机实际结构与工作特点,建立80型轮式装载机整车11自由度系统振动参数化模型,在精确确定各项结构参数的基础上,针对不同工况对80型轮式装载机进行系统动力特性研究,得到人体座椅系统垂血加速度、铲斗质心垂直加速度、车轮及工作装置关键铰点的相对动载等响应量的功率谱密度曲线,确定影响轮式装载机结构系统动力特性的各项因素以及各项因素对各响应量的影响程度,并应用人体对振动主观感受的国家标准作为评价指标,根据驾驶员主观感觉的舒适性程度给出工况组合及参数选择的建议。
论文研究表明,本文所采用的参数化振动模型建立方法与虚拟激励仿真方法可适用于不同机型的轮式装载机,具有通用性,拓展了轮式装载机结构系统动力分析模型与仿真方法的应用范围,对轮式装载机的设计与改进具有一定的帮助作用,为未来轮式装载机结构系统动力特性研究具有一定的指导意义。
Based on "twelfth five-year" national science and technology support plan project "energy saving and safety oriented integrated intelligent engineering machinery and equipment research and development"(project number:2013BAF07B04), paper set up the11degrees of freedom vibration system model according to the wheel loader actual work situation and its real structure conform and combined with the pseudo-excitation method analysis the main factors influencing the dynamic characteristics of wheel loader structure system.
Wheel loader is a kind of shoveling transport machinery, widely used in mining, construction, agriculture, water conservancy and other large engineering field, is convenient and quick to operate, flexible, easy to use and repair etc, is one of the important engineering machinery and equipment.
According to existing wheel loader design and research and development trend in our country, the production and research and development focuses on models for3to5ton, notably the5t model is most concentrated, but with the change of market demand situation, the development of engineering machinery and equipment has become increasingly large, and, in order to improve project efficiency, speed of wheel loader when working with vehicle stability is proposed. Wheel loader working environment is generally poor, poor road conditions, and its own characteristics and makes the frame and wheel loader adopts bolt connection between drive axle, inelastic suspension device, thus for long distances and transitions in the condition of the vehicle structure can effectively buffer the impact of the high speed and attenuation and vibration, and influence the driver's physical and mental health, reduce the work reliability and service life of the loader parts, wheel loader constraints become to high speed, efficiency, the development of the important factors. Therefore, it is necessary for large power system with the features of wheel loader structure system in-depth research, to find, the factors which influence the dynamic characteristics of the structural system related both to effectively improve the driver's operation comfort, keep carrying the integrity of the goods, can also for the future development and improvement of the loader to provide certain theoretical basis.
In this paper, based on the test data, the establishment of working device suspended elastic equivalent model and according to the actual working condition to analyze its dynamic characteristics, analysis the mechanics characteristic of main elastic damping components to establish consistent with the actual structure of the wheel loader11degrees of freedom vibration system model, using structural system dynamic characteristics of wheel loader virtual excitation method carries on the system research, analysis the main factors influencing the dynamic characteristics of wheel loader structure system, focusing on external incentives change, change regulation of the system response, in order to improve the structure of the wheel loader system provides theory basis for dynamic characteristics, also as a model to improve and upgrade parts of theoretical reference.
According to the work device of the type80wheel loader set up the technical data and the former frame just-elastic coupling model, the model80wheel loader working device and front frame is load and partial load condition of the whole operation cycle simulation, are obtained with different partial load, the stress of the working device's key hinge point, deflection is obtained on the impact of load position on the different hinge point stress change rule. Work device of the simulation results show that the largest stress of the hinge point is movable arm and front frame hinged point, partial load conditions, the hinge point stress distribution is more serious. Function is obtained by the simulation analysis to the work unit movable arm oil cylinder and the turning force on the cylinder, it is analysis of movable arm oil cylinder with turning cylinder dynamic operating characteristics.
In this paper, the type80wheel loader working device of oil cylinder dynamic working characteristics are studied, through the test measurement type80wheel loader a spade work circulation pump outlet pressure and movable arm oil cylinder and turn the bucket cylinder rod and rodless cavity pressure, get the working pump outlet pressure and movable arm oil cylinder with turning cylinder rod and rodless cavity pressure change characteristic curve, to establish open and close the driving stability system two kinds of oil cylinder under different working condition of mechanical model, its general expressions of stiffness coefficient and damping coefficient, the measured data based on test research unit movable arm oil cylinder and turning dynamic characteristic of the oil cylinder, the movable arm oil cylinder under different working conditions is obtained and turning cylinder stiffness coefficient and damping coefficient curve, dynamic characteristics analysis of various parameters on the oil cylinder system. Theoretical analysis of test data was applied to the research method of combining practice and theory, to improve the authenticity and the credibility of the findings.
For wheel loader elastic damping components-seat, rubber shock absorber and tire dynamics model, according to the actual working condition analysis of factors influencing the dynamic characteristics of the damping components each. Research results show that air hanging wheel loader seat, in the air under the same pressure, which can effectively keep the seat height and stability of the dynamic characteristics. This paper also analyzed the tire load and partial load condition is the load and the mechanical properties of the results show that under the same working condition, the tires in inflation pressure of0.39MPa when the optimum stiffness and damping properties, structure of system dynamic simulation results also prove the conclusion.
System is introduced in this paper the theoretical basis for the pseudo-excitation method, analysis of wheel loader virtual excitation method is used to research dynamic characteristics of the structural system feasibility, accuracy and validity. Wheel loader based on the actual structure and the working characteristics, the establishment of model80wheel loader vehicle11degrees of freedom vibration system parametric model, the accurate determination on the basis of the simulation parameters, according to different working condition of type80wheel loader system dynamic simulation, get the response power spectral density curve, determine influence the dynamic characteristics of wheel loader structure system in all kinds of factors and the influence degree of various factors on the corresponding amount, and according to the driver's subjective feelings of comfort degree combination condition and parameters selection Suggestions are given.
Thesis study, this paper USES the parametric vibration simulation modeling method and pseudo-excitation method can be applied to different models of wheel loader, the versatility, expand the wheel loader system structure dynamic analysis model and simulation method, the application scope of the design of wheel loader and improvement has certain help, the dynamic characteristics of wheel loader structure system for the future research has certain guiding significance.
轮式装载机是铲土运输机械的一种,广泛应用于矿山、建筑、农业、水利等大型工程领域,具有操作便利快捷,机动灵活,易于使用与维修等特点,是重要的工程机械设备之-
就现有我国轮式装载机的设计与研发趋势来看,生产与研发主要集中在3-5吨级机型上,其中尤以5吨级机型最为集中,但随着市场需求形势的变化,工程机械设备的发展日趋大型化,而且,为了提高工程作业效率,对轮式装载机的行驶速度与作业时的整车稳定性也提出了要求。轮式装载机的工作环境通常比较恶劣,路面条件较差,而轮式装载机自身的特点又使得车架与驱动桥之间采用螺栓固定连接,无弹性悬架设备,因而对于中长距离行驶及转场行驶工况,整车结构无法有效的缓冲和衰减高速行驶带来的冲击和振动,影响驾驶员的身心健康,降低装载机零部件的工作可靠性和使用寿命,成为制约轮式装载机向高速化、高效化发展的重要因素。因此,有必要对大型轮式装载机结构系统动力特性进行系统与深入的研究,找到影响其结构系统动力特性的相关因素,既能够有效改善驾驶员的操作舒适度,保持运载货物的完整性,又能够为日后装载机的发展与改进提供一定的理论依据。
本文基于试验实测数据,建立工作装置悬置弹性等效模型并根据实际工况对其动态特性进行分析,分析主要弹性减振组件的力学特性,建立与实际结构相符合的轮式装载机空间11自由度系统振动模型,使用虚拟激励法对轮式装载机结构系统动力特性进行系统研究,分析影响轮式装载机结构系统动力特性的主要因素,着重考虑外部激励变化,系统各响应量的变化规律,为提高轮式装载机的结构系统动力特性提供了理论依据,亦可作为机型改进与部件升级的理论参考。
本文根据80型轮式装载机技术数据建立其工作装置与前车架的刚—弹耦合模型,对80型轮式装载机工作装置正载与偏载工况的作业循环进行仿真,求得正载与不同偏载位置时,工作装置各关键铰点的受力,得出了偏载作用位置对不同铰点受力影响的变化规律。仿真结果表明,工作装置中受力最大的铰点是动臂与前车架铰接点,偏载工况下,这一铰点受力情况更为严峻。通过仿真分析得到作用于工作装置动臂油缸与铲斗油缸上的力,这是分析动臂油缸与铲斗油缸动态工作特性的基础。
本文对80型轮式装载机工作装置油缸的动态工作特性进行了研究,通过试验获得80型轮式装载机一个铲装循环工作油泵出口压力和动臂油缸以及铲斗油缸的有杆腔与无杆腔压力特性,建立开启与关闭行驶稳定系统两种不同工作状态下油缸的力学模型,得到其刚度系数和阻尼系数的通用表达式,基于试验实测数据研究工作装置动臂油缸和铲斗油缸的动态特性,得出了不同工况下动臂油缸和铲斗油缸的刚度系数与阻尼系数曲线,分析系统各参数对油缸的动态特性的影响。
本文建立轮式装载机弹性减振组件—座椅、橡胶减振器和轮胎的动力学模型,根据实际工况分析影响减振组件动力特性的各项因素。研究结果表明空气悬挂式轮式装载机座椅,在充气压力相同的情况下,可有效保持座椅高度与动力特性的稳定。本文还分析了正载与偏载工况下轮胎的载荷与力学特性,结果表明,在同等工作条件下,轮胎在充气压力为0.39MPa时刚度与阻尼特性最优,结构系统动力特性研究的结果也验证了这一结论。
本文系统介绍了虚拟激励法的理论基础,分析采用虚拟激励法研究轮式装载机结构系统动力特性的可行性、准确性与有效性。根据轮式装载机实际结构与工作特点,建立80型轮式装载机整车11自由度系统振动参数化模型,在精确确定各项结构参数的基础上,针对不同工况对80型轮式装载机进行系统动力特性研究,得到人体座椅系统垂血加速度、铲斗质心垂直加速度、车轮及工作装置关键铰点的相对动载等响应量的功率谱密度曲线,确定影响轮式装载机结构系统动力特性的各项因素以及各项因素对各响应量的影响程度,并应用人体对振动主观感受的国家标准作为评价指标,根据驾驶员主观感觉的舒适性程度给出工况组合及参数选择的建议。
论文研究表明,本文所采用的参数化振动模型建立方法与虚拟激励仿真方法可适用于不同机型的轮式装载机,具有通用性,拓展了轮式装载机结构系统动力分析模型与仿真方法的应用范围,对轮式装载机的设计与改进具有一定的帮助作用,为未来轮式装载机结构系统动力特性研究具有一定的指导意义。
Based on "twelfth five-year" national science and technology support plan project "energy saving and safety oriented integrated intelligent engineering machinery and equipment research and development"(project number:2013BAF07B04), paper set up the11degrees of freedom vibration system model according to the wheel loader actual work situation and its real structure conform and combined with the pseudo-excitation method analysis the main factors influencing the dynamic characteristics of wheel loader structure system.
Wheel loader is a kind of shoveling transport machinery, widely used in mining, construction, agriculture, water conservancy and other large engineering field, is convenient and quick to operate, flexible, easy to use and repair etc, is one of the important engineering machinery and equipment.
According to existing wheel loader design and research and development trend in our country, the production and research and development focuses on models for3to5ton, notably the5t model is most concentrated, but with the change of market demand situation, the development of engineering machinery and equipment has become increasingly large, and, in order to improve project efficiency, speed of wheel loader when working with vehicle stability is proposed. Wheel loader working environment is generally poor, poor road conditions, and its own characteristics and makes the frame and wheel loader adopts bolt connection between drive axle, inelastic suspension device, thus for long distances and transitions in the condition of the vehicle structure can effectively buffer the impact of the high speed and attenuation and vibration, and influence the driver's physical and mental health, reduce the work reliability and service life of the loader parts, wheel loader constraints become to high speed, efficiency, the development of the important factors. Therefore, it is necessary for large power system with the features of wheel loader structure system in-depth research, to find, the factors which influence the dynamic characteristics of the structural system related both to effectively improve the driver's operation comfort, keep carrying the integrity of the goods, can also for the future development and improvement of the loader to provide certain theoretical basis.
In this paper, based on the test data, the establishment of working device suspended elastic equivalent model and according to the actual working condition to analyze its dynamic characteristics, analysis the mechanics characteristic of main elastic damping components to establish consistent with the actual structure of the wheel loader11degrees of freedom vibration system model, using structural system dynamic characteristics of wheel loader virtual excitation method carries on the system research, analysis the main factors influencing the dynamic characteristics of wheel loader structure system, focusing on external incentives change, change regulation of the system response, in order to improve the structure of the wheel loader system provides theory basis for dynamic characteristics, also as a model to improve and upgrade parts of theoretical reference.
According to the work device of the type80wheel loader set up the technical data and the former frame just-elastic coupling model, the model80wheel loader working device and front frame is load and partial load condition of the whole operation cycle simulation, are obtained with different partial load, the stress of the working device's key hinge point, deflection is obtained on the impact of load position on the different hinge point stress change rule. Work device of the simulation results show that the largest stress of the hinge point is movable arm and front frame hinged point, partial load conditions, the hinge point stress distribution is more serious. Function is obtained by the simulation analysis to the work unit movable arm oil cylinder and the turning force on the cylinder, it is analysis of movable arm oil cylinder with turning cylinder dynamic operating characteristics.
In this paper, the type80wheel loader working device of oil cylinder dynamic working characteristics are studied, through the test measurement type80wheel loader a spade work circulation pump outlet pressure and movable arm oil cylinder and turn the bucket cylinder rod and rodless cavity pressure, get the working pump outlet pressure and movable arm oil cylinder with turning cylinder rod and rodless cavity pressure change characteristic curve, to establish open and close the driving stability system two kinds of oil cylinder under different working condition of mechanical model, its general expressions of stiffness coefficient and damping coefficient, the measured data based on test research unit movable arm oil cylinder and turning dynamic characteristic of the oil cylinder, the movable arm oil cylinder under different working conditions is obtained and turning cylinder stiffness coefficient and damping coefficient curve, dynamic characteristics analysis of various parameters on the oil cylinder system. Theoretical analysis of test data was applied to the research method of combining practice and theory, to improve the authenticity and the credibility of the findings.
For wheel loader elastic damping components-seat, rubber shock absorber and tire dynamics model, according to the actual working condition analysis of factors influencing the dynamic characteristics of the damping components each. Research results show that air hanging wheel loader seat, in the air under the same pressure, which can effectively keep the seat height and stability of the dynamic characteristics. This paper also analyzed the tire load and partial load condition is the load and the mechanical properties of the results show that under the same working condition, the tires in inflation pressure of0.39MPa when the optimum stiffness and damping properties, structure of system dynamic simulation results also prove the conclusion.
System is introduced in this paper the theoretical basis for the pseudo-excitation method, analysis of wheel loader virtual excitation method is used to research dynamic characteristics of the structural system feasibility, accuracy and validity. Wheel loader based on the actual structure and the working characteristics, the establishment of model80wheel loader vehicle11degrees of freedom vibration system parametric model, the accurate determination on the basis of the simulation parameters, according to different working condition of type80wheel loader system dynamic simulation, get the response power spectral density curve, determine influence the dynamic characteristics of wheel loader structure system in all kinds of factors and the influence degree of various factors on the corresponding amount, and according to the driver's subjective feelings of comfort degree combination condition and parameters selection Suggestions are given.
Thesis study, this paper USES the parametric vibration simulation modeling method and pseudo-excitation method can be applied to different models of wheel loader, the versatility, expand the wheel loader system structure dynamic analysis model and simulation method, the application scope of the design of wheel loader and improvement has certain help, the dynamic characteristics of wheel loader structure system for the future research has certain guiding significance.
引文
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