EBZ-135型悬臂式掘进机履带板的优化设计

太原理工大学硕士学位论文EBZ-135型悬臂式掘进机履带板的优化设计姓名：凌静秀申请学位级别：硕士专业：机械设计与理论指导教师：李春英;牛卫兵20100501IEBZ-135EBZ-135EBZ-135UGADAMSANSYSUGADAMSANSYSIIIIIOPTIMALDESIGNABOUTCRAWLERBOARDOFEBZ-135CANTILEVERTYPEROADHEADERABSTRACTTheroadheaderisoneofthekeyequipmentsunderthecoalminedrifting.Thecrawleristhewalkingmechanismofroadheader,anditsupportsthewholemachine,mainlywithstandsreactionforce,theoverturningmoment,andthedynamicload.WhiletheEBZ-135roadheaderistunnelling,crawlerhasnotsufficientadhesion,anditmakesthemachineslipeasilyandcannotremovethesoltautomatically.Therefore,carryingontheoptimizationdesigntocrawlerboardisthemainresearchcontentofthispaper.Theprojectofthispaperoriginatesfromthefactoryandschoolcooperativeproject,optimizesthecrawlerboardofroadheaderfortheDesignInstituteofTaiyuanMiningMachineryThispaperisbasedontheEBZ135roadheaderastheresearchobject,.WeuseUGsoftwaretomodeltheparts,andimportintothesimulationsoftwareADAMSafterassemblingthepart,thencarryonthedynamicsimulation,andobtaintheloadboundarycondition.Finally,weutilizethesimulationresulttoanalysisthecrawlerboardinfiniteelementanalysissoftwareANSYS.ThispapermainlyestablishsthefollowingpartsusingtheUGsoftware:Drivingwheel,guidingwheel,crawlerboardaswellasthewalkingframe,thenassemblesintothewholemachineandcarriesoutthesimpleinterferenceIVinspection,completesthesimplifiedroadheader.ThenthemodelisimportedintotheADAMSsoftware,andexertingtherestrains,loads,andsoon.Thevirtualprototypeiscompleted,thencarryononward,climbingandturningsimulation.Verifytheaccuracyofthesimulationresultsthoughtorquetheoreticalvalue,andresearchtheloadcurveofcrawlerboard.Thepaperextractsthemaximumloadofcrawlerboardastheloadboundaryconditionoffiniteelementanalysis,andproceedsfiniteelementanalysisinANSYSsoftware,soastochecktheintensityoforiginalcrawlerboard.Finally,thispapercarriesonthestructureoptimizationtotheoriginalcrawlerboardfromenhancingtheslip-resistantandtheautomaticeliminationsiltfunction,soastotheachieveintendedpurpose.KEYWORDS:virtualprototype,roadheader,crawlerboard,finiteelement,optimaldesign11.1EBZ135[1][2][3]21.21-1Fig.1-1Materialobjectofcrawlerboard32050Michigan80ADMASDADS[4][5]D.RubinsteinR.HitronLMS-DADSM113LMS-DADS[6][7][8][9]ADAMS/ViewADAMS410[10]ADAMS/ATV[11][12]ADAMSATV4[13],ADAMS,,[14]ADAMS/View,ATVADAMS/View[15]RecurDynTrack(HM),,,,[16]1.3UGADAMSANSYSEBZ-135UGADAMSANSYS1.12UGADAMS5342.12341.4612342.1EBZ-1352-12-1EBZ-135Fig.2-1ThestructureofwalkingmechanismandroadheaderofEBZ-135[17][7]7[18][19]21,,1[7][8]2[8]32CrMoVs930MPa820-80mm2.2UGUGUGCAD/CAE/CAMUGParasolidADAMSUGADAMS2.2.19123452.2.2UG12-22°1802-332-41042-52-22-3Fig.2-2Thesimplified3-DmodelofdrivingwheelFig.2-3Thesimplified3-Dmodelofguidingwheel2-42-5Fig.2-4Thesimplified3-DmodelofcrawlerboardFig.2-5Thesimplified3-Dmodelofwalkingframe2.2.3UG11UG2-6612-72-62-7Fig.2-6TheassmblebetweendrivingwheelandcrawlerFig.2-7Theassmblebetweencrawlers2-8122-8EBZ-135Fig.2-8Thesimplified3-DmodelofEBZ135roadheader2.2.42-92-9Fig.2-9Informationboxofnon-interference2.3ADAMS13ADAMSMSCADAMSADAMSCADFEA[20][21]UGADAMS,,,[22][23]2.3.1ADAMSUGADAMSUG(UG)ADAMSUGADAMSUGParasolidParasolid.x_t,ADAMSView(1)(2)Length/mMass/kgForce/kNTime/sAngle/DegreeFrequency/Hertz2.3.2ADAMSYoungsModulus(PoissonsRatio)(Density)2-10142-10Fig.2-10Materialparameterofground2.3.31ADAMSRevolute(Cylindrical)(Translational)(Atpoint)(Fixed)Contact2-12-1EBZ-135Tab.2-1InternalcomponentrestraintrelationsofEBZ-135roadheader1512322-22-2EBZ-135Tab.2-2ThepartnameofEBZ-135roadheader1~611~61lefttrack1~61righttrack1~61leftdriverwheelrightdriverwheelwalkingframeleftguidewheelleftguidewheelground3[24]ADAMSRestitutionImpactUserDefined16ImpactImpactxdkxF−−=e(2-1)kNmxmedmNsxsm1[8][10]SolidtoSolidStiffnessForceExponentDampingPenetrationDepthStiffnessm/kN10~m/kN1052510kN/mForceExponent1.3~1.52~3Dampingmaxdamping0.1%~1%PenetrationDepth410−m310−mFrictionForceCoulombStaticCoefficient0.15(DynamicCoefficient)0.10.73172-32-42-52-3Tab.2-3Thecontactparameteramongdrivingwheel,guidingwheelandcrawlerboardStiffness(k)105kN/mDampingd1000kNs/mDmax0.001ForceExponente1.5CoulombFrictiononStaticCoefficient0.15DynamicCoefficient0.1StictionVel.0.1FrictionVel.1.02-4Tab.2-4ThecontactparameterbetweenwalkingframeandcrawlerboardStiffness(k)105kN/mDampingd1000kNs/mDmax0.001ForceExponente1.5CoulombFrictiononStaticCoefficient0.35DynamicCoefficient0.35StictionVel.0.1FrictionVel.1.0182-5Tab.2-5ThecontactparameterbetweengroundandcrawlerboardStiffness(k)50000kN/mDampingd5000kNs/mDmax0.001ForceExponente2.2CoulombFrictiononStaticCoefficient0.73DynamicCoefficient0.73StictionVel.0.1FrictionVel.1.0ADAMS2612488ADAMS1ADAMS/View4192-62-6Tab.2-6Thepartmassofroadheaderkg221451503700012222kg25ADAMSY62-11202-11EBZ135Fig.2-11ThevirtualprototypeofEBZ135roadheader7ADAMS/View2-122-12Fig.2-12Dialogboxofmodelverifying128120212134212.412342.4.181.12-13GnFfFµFNF222-13Fig.2-13Theforcediagramofroadheadermovingforward-[18]2f0.32~0.37[25]2f0.353f2-72-7[25]Tab.2-7Coefficientofrollingresistanceofdifferentroads0.070.03~0.040.050.10.1~0.15230.1rFmgffGffF⋅+=⋅+=)()3