采煤机牵引部动力学分析.pdf

学校代码10112 密级公开硕士学位论文（专（专业业学学位）位）论文题目采煤机牵引部动力学分析英文题目 Dynamic Analysis of Haulage Part of Shearer 作者姓名郭姣姣学号 2017540045 专业领域机械工程研究方向机械现代设计指导教师王义亮教授校外导师张丽明成优高工论文提交日期2020 年 6 月万方数据万方数据学位论文原创性声明本人郑重声明所呈交的学位论文，是本人在导师的指导下，独立进行研究所取得的成果。除文中已经注明引用的内容外，本论文不包含其他个人或集体已发表或撰写过的科研成果。对本文的研究做出贡献的个人和集体，均已在文中以明确方式标明。本声明的法律责任由本人承担。论文作者签名签字日期年月日学位论文版权使用授权书本学位论文作者和指导教师完全了解太原理工大学有关保留、使用学位论文的规定学校有权保留并向国家有关部门或机构送交学位论文的复印件和电子版；允许本学位论文被查阅和借阅；学校可以将本学位论文的全部或部分内容编入有关数据库进行检索，可以采用影印、缩印或其他复制手段保存和汇编本学位论文。本学位论文属于保密 □ 在年解密后适用本授权书不保密□ 论文作者签名导师签名签字日期年月日签字日期年月日万方数据万方数据硕士学术学位、硕士非工程类专业学位学位论文答辩信息表论文题目采煤机牵引部动力学分析课题来源* 省科技厅项目论文答辩日期 2020.06.11 答辩秘书刘枫彬学位论文答辩委员会成员姓名职称博导/硕导工作单位答辩委员会主席常宗旭教授硕导太原理工大学答辩委员 1 任芳副教授硕导太原理工大学答辩委员 2 张耀成副教授硕导太原理工大学 *课题来源可填国家重点研发计划项目、国家自然科学基金项目、国家社科基金项目、教育部人文社科项目、国家其他部委项目、省科技厅项目、省教育厅项目、企事业单位委托项目万方数据万方数据摘要 I 摘要采煤机是煤矿开采最重要的设备，其工作环境恶劣，极易发生故障。牵引部作为采煤机的重要组成部分,主要负责采煤机的减速和牵引行走，其安全性和可靠性直接影响着采煤机的使用性能。因此采煤机牵引部的正常运行对煤炭开采意义重大。本文以MG1000／2500-WD电牵引采煤机为研究对象，对牵引部及其零部件部进行动力学分析。首先充分了解牵引部的结构和尺寸，参照设计二维图在大型三维软件UG中建立准确的电牵引采煤机牵引部三维模型。虚拟样机技术能够真实地模拟物体的运动并得出物体的运动规律。将建立好的三维模型通过软件接口导入到ADAMS软件中建立虚拟样机模型，设置好接触与约束，模拟真实的减速运动。从后处理中得到采煤机的运动学和动力学分析结果，与理论值做对比，验证了虚拟样机的正确性。其次利用有限元技术和刚柔耦合技术对采煤机关键零部件进行动力学分析。在ANSYS Workbench中对采煤机牵引部电机输出轴进行模态分析，得到电机输出轴的十阶模态，找到其容易发生共振的频率。对外牵引部两级啮合齿轮进行瞬态动力学分析，得到其啮合过程中的应力与应变分布图，分析其受力情况并找到其运动过程中最薄弱的地方。最后通过刚柔耦合技术将第一级行星轮系的行星架做柔性化处理，分别对其进行刚体仿真和刚柔耦合仿真，得到其运动学和动力学特性并进行比较，验证了刚柔耦合技术更贴近真实工况。通过对电牵引采煤机牵引部动力学分析，得到了牵引部零部件的动力学特性，为零部件的设计优化提供了理论依据。关键词关键词采煤机牵引部；虚拟样机；刚柔耦合；动力学；齿轮万方数据太原理工大学硕士学位论文 II 万方数据 ABSTRACT III ABSTRACT Shearer is the most important equipment in coal mining. Its working environment is very bad and it is easy to break down. As an important part of the shearer, the haulage part is mainly responsible for the deceleration and haulage of the shearer. Its safety and reliability directly affect the perance of the shearer. Therefore, the normal operation of the haulage part of the shearer is of great significance for coal mining. Taking mg1000 / 2500-wd electric haulage shearer as the research object, this paper analyzes the dynamics of the haulage part and its parts. First of all, fully understand the structure and size of the haulage unit, refer to the design of two-dimensional drawings in the large-scale three-dimensional software UG to establish an accurate three-dimensional model of the haulage unit of the electric haulage shearer. Virtual prototyping technology can simulate the motion of objects and get the motion law of objects. The established 3D model is imported into ADAMS software through the software interface to establish the virtual prototype model, set up the contact and constraints, and simulate the real deceleration movement. The kinematics and dynamics analysis results of the shearer are obtained from the post-processing, and compared with the theoretical value, the correctness of the virtual prototype is verified. Secondly, the dynamic analysis of the key parts of the shearer is carried out by using the finite element technology and the rigid flexible coupling technology. In the ANSYS Workbench, the modal analysis of the motor output shaft of the shearers traction part is carried out, and the ten order modal of the motor output shaft is obtained, and the frequency of resonance is found. The transient dynamic analysis of the two-stage meshing gear in the external traction part is carried out, and the distribution diagram of stress and strain in the meshing process is obtained, and the stress situation is analyzed and the weakest place in the movement process is found. Finally, through the rigid flexible coupling technology, the planet frame of the first stage planetary gear system is flexible, and the rigid flexible coupling simulation and rigid flexible coupling simulation are carried out respectively. 万方数据太原理工大学硕士学位论文 IV The kinematic and dynamic characteristics are obtained and compared, which verifies that the rigid flexible coupling technology is more close to the real working condition. Through the dynamic analysis of the haulage part of the electric haulage shearer, the dynamic characteristics of the components of the haulage part are obtained, which provides a theoretical basis for the design and optimization of the components. Key words Shearer Traction Unit; Virtual Prototype; Rigid Flexible Coupling; Dynamics; Gear 万方数据目录 V 目录摘要 ..................................................................................................................................... I ABSTRACT .................................................................................................................................. III 第一章绪论 ............................................................................................................................ 1 1.1 研究目的及意义 ........................................................................................................... 1 1.2 采煤机发展历史 ........................................................................................................... 1 1.3 国内外研究现状 ............................................................................................................. 2 1.3.1 虚拟样机技术 ........................................................................................................ 2 1.3.2 有限元分析方法 .................................................................................................... 3 1.3.3 刚柔耦合技术 ........................................................................................................ 4 1.4 主要研究内容 ............................................................................................................... 5 第二章采煤机牵引部建模 .................................................................................................... 7 2.1 牵引传动箱结构 ........................................................................................................... 7 2.1.1 概述 ........................................................................................................................ 7 2.1.2 内牵引传动系统 .................................................................................................... 8 2.1.3 牵引电机 .............................................................................................................. 12 2.1.4 滑靴装配 .............................................................................................................. 13 2.2 外牵引结构 ................................................................................................................. 13 2.2.1 概述 ...................................................................................................................... 13 2.2.2 主要技术性能特点及参数 .................................................................................. 14 2.3 UG 中牵引部实体建模 ............................................................................................... 15 2.3.1 概述 ...................................................................................................................... 15 2.3.2 牵引部建模 .......................................................................................................... 16 2.4 模型检测 ..................................................................................................................... 23 2.5 本章小结 ..................................................................................................................... 24 第三章基于 ADAMS 的采煤机牵引部动力学分析 ............................................................ 25 3.1 多体动力学理论 ......................................................................................................... 25 3.1.1 多体动力学建模理论 .......................................................................................... 25 3.1.2 多体动力学数值求解 .......................................................................................... 26 万方数据太原理工大学硕士学位论文 VI 3.2 虚拟样机模型建立 ..................................................................................................... 27 3.2.1 建立虚拟样机模型 .............................................................................................. 27 3.2.2 约束与接触的添加 .............................................................................................. 29 3.2.3 创建驱动 .............................................................................................................. 31 3.3 采煤机牵引部动力学分析 ......................................................................................... 32 3.3.1 求解器设置 .......................................................................................................... 32 3.3.2 牵引部运动学分析 .............................................................................................. 33 3.3.3 牵引部动力学分析 .............................................................................................. 34 3.4 本章小结 ..................................................................................................................... 39 第四章电机输出轴模态分析 .............................................................................................. 41 4.1 模态分析理论 ............................................................................................................. 42 4.2 模态分析设置 ............................................................................................................. 43 4.2.1 建立电机输出轴有限元模型 .............................................................................. 43 4.2.2 划分网格 .............................................................................................................. 43 4.2.3 边界条件设定 ...................................................................................................... 44 4.3 求解分析 ..................................................................................................................... 45 4.4 本章小结 ..................................................................................................................... 49 第五章外牵引部齿轮瞬态动力学分析 .............................................................................. 51 5.1 瞬态动力学分析理论 ................................................................................................. 51 5.1.1 瞬态响应理论 ...................................................................................................... 51 5.1.2 单元结果 .............................................................................................................. 52 5.2 瞬态动力学分析设置 ................................................................................................. 52 5.2.1 建立齿轮副模型 .................................................................................................. 52 5.2.2 划分网格 .............................................................................................................. 53 5.2.3 设置接触 .............................................................................................................. 54 5.2.4 定义边界条件 ...................................................................................................... 55 5.3 求解分析 ..................................................................................................................... 56 5.3.1 求解设置 .............................................................................................................. 56 5.3.2 齿轮副瞬态分析 .................................................................................................. 56 5.3.3 消除齿轮间隙方法 .............................................................................................. 59 5.4 本章小结 ..................................................................................................................... 62 万方数据目录 VII 第六章第一级行星齿轮刚柔耦合动力学分析及对比 ...................................................... 63 6.1 刚柔耦合理论 ............................................................................................................. 64 6.1.1 多刚体动力学理论 .............................................................................................. 64 6.1.2 多柔体动力学理论 .............................................................................................. 65 6.1.3 刚柔耦合多体动力学理论 .................................................................................. 65 6.2 行星轮系刚性体动力学分析 ..................................................................................... 66 6.2.1 创建刚性体模型 .................................................................................................. 66 6.2.2 建立第一级行星轮系虚拟样机模型 .................................................................. 67 6.2.3 仿真计算 .............................................................................................................. 68 6.3 刚柔耦合仿真 ............................................................................................................. 68 6.3.1 创建柔性体模型 .................................................................................................. 68 6.3.2 柔性体替换与编辑 ................................................................................................ 70 6.3.3 刚柔耦合仿真计算 ................................................................................................ 71 6.4 刚体仿真和刚柔耦合仿真结果分析及对比 ............................................................. 71 6.4.1 运动学分析 .......................................................................................................... 71 6.4.2 动力学分析 .......................................................................................................... 75 6.4.3 利用 I3 求解器进行刚柔耦合结果分析 ............................................................. 80 6.5 本章小结 ..................................................................................................................... 82 第七章总结与展望 .............................................................................................................. 83 7.1 工作总结 ..................................................................................................................... 83 7.2 主要结论 ..................................................................................................................... 84 7.3 工作展望 ..................................................................................................................... 84 参考文献 .................................................................................................................................. 87 攻读学位期间取得的科研成果 .............................................................................................. 91 致谢 ...................................................................................................................................... 93 万方数据太原理工大学硕士学位论文 VIII 万方数据绪论 1 第一章绪论 1.1 研究目的及意义在我国已经开采的化石能源中，煤炭的占比达到了百分之九十以上。 2017 年我国共生产煤炭 35.2 亿吨，消费 44.9 亿吨，生产量和消费量都超过全球的一半以上。这证明了煤炭依旧是我国不可或缺的物质基础[1]。煤炭行业事关国家经济命脉，是我国赖以生存的主体能源，并且这种依赖将是