某混凝土泵车泵送系统设计

某混凝土泵车泵送系统设计,混凝土泵,车泵送,系统,设计 Simulation and Optimization of the Driving Forces of Hydraulic Cylinders for Boom of Truck Mounted Concrete PumpZHONG Zhihong, WU Yunxin, MA ChangxunCollege of Mechanical and Electrical Engineering, Central South University, Changsha 410083, ChinaE-mail: Abstract-In order to obtain the maximum driving forces of hydraulic cylinders in the process of boom design, the solid model was built in Pro/E and then imported into ADAMS where the dynamic simulation model was established.Processes of the boom transforming from horizontal to typical poses were simulated and driving force variation curves of the hydraulic cylinders were generated. Accordingto the results, location of the joint connecting cylinder 2 and the links was optimized in ADAMS and the driving force decreased as a result. It is instructive to structure design of boom.Keywords-simulation;optimization;drivingforce;hydraulic cylinder; boom; Pro/E; ADAMSI.INTRODUCTIONTruck mounted concrete pump is a large engineering machinery used for concrete pouring. It is mainly composed of chassis, concrete pump and boom system,among which boom system best reflects characteristics of a truck mounted concrete pump. Boom systems safety, reliability and advancement are key factors that determine the competence of a truck mounted concrete pump 1 and its structure is as shown in Figure1. In order to study the boom system better, a laboratory designed a four-arm boom model which is approximately 13 meters long. After devisingthe boom structure and hydraulic system principle preliminarily, dynamic simulation and structure optimization are necessary in order to determine the oil pressure and cylinder dimensions et al.There are many previous literatures studying the structural strength 1-4 and dynamics 5-7 on boom of truck mounted pump, but less concerning structural design and optimization. In this paper virtual prototype of the boom was established with combination of Pro/E and ADAMS, and processes of the boom transforming from horizontal which is traditionally treated as the most dangerous working case to several typical poses in afour-arm-rotate-together way were simulated. Then the structure was optimized according to the simulation results.1 Turret 2 Arm 3 Hydraulic cylinder 4 LinkFigure 1. Structure of boomII.ESTABLISHMENT OF SIMULATION MODELA.3-D model building in Pro/EIn order to obtain accurate mass attributes including mass, centroid and moment of inertia, 3-D model should be built according to the dimension formerly designed as much as possible. Synchronously, details which have insignificant influence on overall mechanical property of the model should be simplified because too complicatedmodel may result in curves or surfaces missing in ADAMS. Based on this, in this paper each arm of the boom is built as a part and some details are simplified.According to the preliminarily designed drawings,turret, arms, hydraulic cylinders and links are built in powerful 3-D model building software Pro/E respectively,and then assemble them in bottom to top way into a boom which presents a horizontal pose as shown in Figure 2. 1 2 3 4 2011 Fourth International Conference on Intelligent Computation Technology and Automation978-0-7695-4353-6/11 $26.00 2011 IEEEDOI 10.1109/ICICTA.2011.2309412011 Fourth International Conference on Intelligent Computation Technology and Automation978-0-7695-4353-6/11 $26.00 2011 IEEEDOI 10.1109/ICICTA.2011.230915Figure 2. Solid model of the boomB.Model transfer and simulation model building inADAMS3-D model built in Pro/E can be imported into ADAMS by means of Mechanism/Pro which is the exclusive interface software between Pro/E and ADAMS provided by MSC. After installation and initial settings, Mechanism/ProwillappearinPro/Esassembly environment as a cascading menu in which rigid body definition, constraints applying, data transfer parameter settings and simple simulation et al. can be performed. Here we define each part of the boom as a rigid body, and establish a marker at every center of all the shafts for convenient positioning where a revolute joint will becreated later. Then the model can be transferred to ADAMS by Mechanism/Pro. There may be problems with the model that it does not display but its mass and moment of inertia et al. exist. This can be solved by returning to Pro/E to simplify the model further or doing as what is introduced in reference 8, which the paper will not elaborate.Firstly the materials of the boom and the gravity should be defined in ADAMS. Then constraints between parts should be created according to actual situations oftruck mounted concrete pump: the rotational degree of freedom of the boom as an entirety will not be consideredin this paper, so we fix the turret to the ground; we establish revolute joints at each center of all the shafts connecting different parts and translational joints between every pair of cylinder and piston rod. Whats more, four translational joint motions are applied on the four translational joints respectively.III.SIMULATION OF DRIVING FORCESDynamic simulations include forward simulation and reverse simulation: the forward studies dynamic responsesincluding accelerations, velocities, displacements and constraint forces et al. of a mechanical system under external forces or couples; the reverse solves forces with known motion parameters such as velocities, accelerationsand trajectories el al. In this paper we carry out reverse simulation of the boom model in ADAMS, that is, we define velocities of the four cylinders according to actual situation and simulate them in order to obtain their driving force variation curves in different motions.Boom works in diverse poses which usually can bedivided into several typical working poses such as foundation, roof, wall and so on. The boom can transform poses in a four-arm-rotate-together way; also it can rotateeach arm independently. So there are thousands of movement combinations. It is not only unnecessary but also impossible to simulate all cases. In this paperprocesses of the boom transforming from horizontal to the above three typical poses and vertical are simulated.A typical working pose does not mean a unique attitude. In this paper we define the angle combinationsbetween arms and the horizontal of the three above typical poses as 75,15,-15,-75 ? 75,45,15,-45 ?75,75,45,-30 respectively. According to the preliminary design of the hydraulic system, the maximumvelocity of piston is 20 mm/s with which in simulation velocity settings should comply. Regulating the velocities of each piston, simulations of the four processesmentioned above can be accomplished. After that, driving force variation curves of the cylinders in these processes are generated as shown in Figure 3-Figure 6.Figure 3.Driving force curve from horizontal to foundation942916Figure 4. Driving force curve from horizontal to roofFigure 5. Driving force curve from horizontal to wallFigure 6. Driving force curve from horizontal to verticalFrom the graphs shown above we can find that driving forces of cylinder 2, 3 and 4 reach their maximums when the boom is horizontal, while cylinder 1 is not the case. Therefore, designing a boom just as the traditional opinion that the horizontal pose is the most dangerous is not reasonable. Considering the special structure, driving force of cylinder 4 is far lower than the others is easy to understand. However, the maximum driving force of cylinder 2 reaches 90000 N which is much larger thancylinder 1 and 3. This may result in excessive high oilpressure or too large cylinder by tentative calculation. The former is unfavorable to design of hydraulic system; the later may lead to interference. As a result, structure of cylinder 2 and the links should be optimized in order to diminish the driving force.IV.OPTIMIZATIONAccording to mechanism theory, the structure which is comprised of two arms, two links, a cylinder and a piston rod as shown in Figure7 is a planar six-bar mechanism anddiminishing the driving force of cylinder 2 can be realizedby changing the location of joint A. We may build several groups of links with different lengths and reassemble the model and simulate them respectively, then select the best. However this is not an efficient approach. ADAMS provides convenient parameterization and optimization function. In this paper we perform the optimization of location of joint A in ADAMS.Figure 7. Structure of cylinder 2 and the linksSolid model imported in ADAMS cannot be optimized directly. The method we take is as follows: firstly deletecylinder 2 and the two links which are to be parameterizedand substitute standard components such as links in ADAMS for them; then parameterize coordinates of joint A and their lengths can be optimized by doing so.Optimization is a process of finding the objective function extrema under the condition that all design variables meet the constraints during their value ranges.A.Design variablesHere we define coordinates of joint A as design variables and mark them as DVX, DVYB.Constraintfunctionsrespectively.In order to meet requirements of the booms arbitrary transformation, folding and avoid interference after optimization, coordinates of joint A should be restricted and some constraints should be set as follows:3750 ? ? 4100,0 ? ?Y? 175 ?1?943917s.t. ? f1(?,?) = 200 ? ? 0 (2)f2(?,?) = ? 400 ? 0 (3)f3(?,?) = 200? ? 0 (4)f4(?,?) = ? 400 ? 0 (5)f5(?,?) = Abs(? ?)? 20 ? 0 (6)?where s.t. means subject to; LABand LACC.Objective functionare the lengths of the two links which are functions of coordinates of joint A;(2)(5) limit the two links lengths between 200 mm and 400 mm; (6) restricts the link length deference no more than 20 mm.According to the previousresults generated by simulation we know that driving force of cylinder 2 is largest when it is horizontal, so we replace cylinder 2 witha link and just perform static optimization when it is horizontal so as to simplify the process. So we can define the objective function as minimizing of the reaction force measurement function of the substitute link:min(Force_MEA(DVX,DVYD.Outcome of optimization)Optimization in ADAMS shows that the optimum location of joint A is?4013.10?43.89?, when lengths of the two links are 344.07 mm and 324.04 mm. Round the lengths to 344 mm and 324 mm, rebuild the solid models of the links, reassemble the boom and simulate the several processes mentioned above as before. Results generatedare as shown in Figure 8-Figure 11.Figure 8. Driving force curve from horizontal to foundation after optimizationFigure 9. Driving force curve from horizontal to roof after optimizationFigure 10. Driving force curve from horizontal to wall after optimizationFigure 11. Driving force curve from horizontal to vertical after optimizationFrom the above graphs we know that the curve shapesof driving forces after optimization resemble the ones before optimization, and driving force of cylinder 2 decreased to the same level with cylinder 1 and 3.V.CONCLUSIONIn this paper a complete procedure of simulation and optimization of the driving forces of hydraulic cylinders for boom of truck mounted concrete pump has been presented. Firstly establish the virtual prototype by 944918combination of Pro/E and ADAMS with Mechanism/Prowhich is the exclusive interface software between the two;then simulate several processes of the boom transforming from horizontal to typical poses and generate the driving force curves; lastly optimize the structure according to the simulation results. With this approach, we could carry out design, simulation and optimization of mechanical system conveniently without complex mathematic formula derivation and get satisfactory results.REFERENCE1SHI Xianxin, ZHENG Yongsheng, XU Huaiyu, FENG Min, ZHANGPengcheng, Finite Element Analysis on the Boom of Truck Mounted Concrete Pump Based on ANSYS, Construction Machinery, 2009, “”(04): 79-82. (In Chinese)2YAN Lijuan, FENG Min, XU Huaiyu, Finite Element Calculation and Analysis for Placing Boom of Model HB37 Concrete Pump Truck,Construction Machinery and Equipment, 2005, 36(1): 30-32. (InChinese)3 ZHANG Yanwei, TONG Li, SUN Guozheng, A Structure Analysis of Concrete Pumps Boom Based on ANSYS, Journal of Wuhan University of Technology (Transportation Science & Engineering),2004, 28(4): 536-539. (In Chinese)4ZHANG Daqing, LU Pengmin, HE Qinghua, HAO Peng,Experimental Research on Structural Dynamic Strength of a Concrete Pump Auto, Journal of Vibration and Shock, 2005, 24(3):111-113. (In Chinese)5LU Pengmin, WANF Hongbing, ZHANG Daqing, Influence of Structural Dynamic Characteristic by Concrete Pump Trucks Impact Load, China Journal of Highway and Transport, 2003, 16(4): 115-117.(In Chinese)6 LIU Jie, DAI Li, ZHAO Lijuan, CAI Juan, ZHANG Jing, Modeling and Simulation of Flexible Multi-Body Dynamics of Concrete Pump Truck Arm, Chinese Journal of Mechanical Engineering, 2007, 43(11): 131-135. (In Chinese)7SU Xiaoping, YIN Chenbo, WANG Dongfang, JIANG Tao, XU Cheng, Simulation of the Boom of Concrete Bump Truck Based on Multi-body Dynamics, Chinese Journal of Construction Mechanery,2004, 2(2): 167-170. (In Chinese)8NI Jinfeng, XU Cheng, The Method of Transforming Complex Model from Pro/E to ADAMS, Mechanical Engineer, 2004, “”(9): 15-16. (In Chinese)945919 毕业设计(论文)外文资料翻译 系 别： 专 业： 班 级： 姓 名： 学 号： 外文出处： 2011 Fourth International Conference on Intelligent Computation Technology and Automation 附 件： 1. 原文； 2. 译文 2019年03月 载重混凝土泵臂架液压缸驱动力的仿真与优化 为了获得最大的驱动力液压缸在臂架设计过程中，在 Pro/E 中建立实体模型，然后导入 ADAMS 中建立动力学仿真模型。对臂架从水平向典型姿态的转换过程进行了模拟，得到了液压缸的驱动力变化曲线。根据计算结果，在 ADAMS 中优化了关节连接缸 2 和连杆的位置，降低了驱动力。对臂架结构设计具有指导意义。 1.介绍 混凝土泵车是一种用于混凝土浇筑的大型工程机械。它主要由底盘、混凝土泵和臂架系统组成，其中臂架系统最能反映卡车安装混凝土泵的特点。臂架系统的安全，可靠性和进步是决定卡车安装混凝土泵 [1] 的能力的关键因素，其结构如图 1 所示。为了更好地研究臂架系统，一个实验室设计了一个四臂臂架模型，大约 13米长。在初步设计了动臂结构和液压系统原理后，为了确定油压和油缸尺寸等，有必要进行动态仿真和结构优化。 以往的研究文献很多，对载重泵臂架的结构强度 [1-4] 和动力学 [5-7] 进行研究，但对结构设计和优化的研究较少。本文虚拟样机大臂成立结合 Pro/E ADAMS，并模拟了从传统上被视为最危险的工况的 水平向四臂旋转方式的几个典型姿势转换的过程。然后根据仿真结果对结构进行了优化。 2 4 3 1 1 炮塔 2 臂 3 液压缸 4 链接 图 1.臂架结构 II. E仿真模型的建立 A. Pro/E 中的三维模型构建 为了获得精确的质量属性，包括 质量、质心和转动惯量，三维模型应根据以往设计的尺寸尽可能多的建立。同时，由于过于复杂的模型可能会导致 ADAMS 中曲线或曲面丢失，对模型整体力学性 能影响不大的细节应予以简化。基于此，本文将臂架的各个臂架作为一个部分建立起来，并对其一些细节进行了简化。 根据初步设计的图纸，在强大的三维模型构建软件 Pro/E 中分别建立了炮塔、武器、液压缸和连杆。然后在底部到顶部组装它们到一个繁荣，提出了一个水平姿态如图 2 所示。 图 2.繁荣的实体模型 B. 模型传递与仿真模型构建 亚当斯 在 Pro/E 中建立的三维模型可以通过 MSC 提供的 Pro/E 与 ADAMS 专用接口软件的机构/Pro 导入 ADAMS 中。安装和初始设置后，机制/Pro 将显示在 Pro/E 的装配环境作为一个级联菜单，其中刚体定义，约束应用, 数据传输参数设置和简单的仿真等。可以执行。在这里，我们定义了每个部分的繁荣作为刚体，并建立了一个标记在所有轴的中心，方便定位，旋转接头将创建后。然后，该模型可以通过机构/Pro 转移到 ADAMS。模型可能存在不显示的问题，但它的质量和惯性矩等。这可以通过返回 Pro/E 进一步简化模型来解决或做什么是介绍参考 [8]，这篇论文将不会阐述。 首先应在 ADAMS 中定义臂架的材料和重力。然后根据卡车安装混凝土泵的实际情况，在零件之间的约束应该被创建: 作为一个整体的繁荣的转动自由度不会被考虑在本文中, 所以我们把炮塔固定在地上;在连接不同零件的所有轴的每个中心建立旋转接头，并在每一对气缸和活塞杆之间建立平移接头。此外，四个平移关节运动分别应用于四个平移关节。 III. S驱动力的设定 动态仿真包括正演模拟和反演模拟: 正演研究了机械系统的加速度、速度、位移和约束力等动态响应。 外力或夫妇; 反向解决与已知的运动参数，如速度，加速度和轨迹 el al 的力量。本文在 ADAMS 中对臂架模型进行了逆向仿真，即根据实际情况定义四缸的速度，并对其进行仿真，得到四缸在不同运动下的驱动力变化曲线。 臂架工作在不同的姿势，通常可以分为几个典型的工作姿势，如基础，屋顶，墙壁等。繁荣可以变换姿势在一个四臂旋转一起的方式; 也可以独立旋转每个臂。所以有成千上万的运动组合。它不仅是不必要的，而且也不可能模拟所有的情况。本文模拟了臂架从水平向以上三个典型姿态和垂直方向的转换过程。 典型的工作姿势并不意味着一种独特的态度。在本文中，我们定义了手臂和水平的三个以上典型的角度组合姿势为 [75 °，15 °，-15 °，-75 °] [75 °，45 °，15 °，-45 °] [75 °，75 °, 45 °，-30 °] 分别。根据液压系统的初步设计，活塞最大速度为 20 mm/s，仿真速度设置应符合要求。调节每个活塞的速度，模拟上述四个过程可以完成。之后，在这些过程中的气缸的驱动力变化曲线生成如图 3-图 6 所示。 图 3.从水平到基础的驱动力曲线图 4.从水平到屋顶的驱动力曲线 图 5.从水平到墙的驱动力曲线 图 6.从水平到垂直的驱动力曲线 从上面所示的图表我们可以发现，当繁荣水平时，气缸 2,3 和 4 的驱动力达到最大值，而气缸 1 不是情况。因此，设计一个繁荣就像传统的观点认为水平姿态是最危险的是不合理的。考虑到特殊的结构，气缸 4 的驱动力远低于其他人是容易理解的。然而，2 缸最大驱动力达到 90000，比 1 缸和 3 缸大很多，这可能会导致过高的油压或过大的缸通过初步计算。前者不利于液压系统的设计; 以后可能会导致干扰。因此，应优化气缸 2 和连杆的结构，以减少驱动力。 根据机理理论，由两个臂、两个环节组成的结构,如图 7 所示的气缸和活塞杆是平面六杆机构，通过改变关节 a 的位置可以实现降低气缸 2 的驱动力。我们可以建立几个不同长度的链接组，并重新组装模型，并分别模拟它们，然后选择最佳的。然而，这不是一个有效的方法。ADAMS 提供了方便的参数 i z 和优化功能。本文在 ADAMS 中对关节 A 的位置进行了优化。 图 7.圆柱体 2 和连杆的结构 在 ADAMS 中导入的实体模型不能直接进行优化。我们所采取的方法是: 首先删除圆柱 2 和两个链接是参数化和替代标准组件，如在 ADAMS 中的链接; 然后参数化关节 A 的坐标和它们的长度可以通过这样做进行优化。优化是在所有设计变量在其值范围内满足约束条件下寻找目标函数极值的过程。 A. 设计变量 在这里，我们定义关节 A 的坐标作为设计变量，并将它们标记为DVX,DVY分别。 B. 约束 函数 为了满足臂架任意变换、折叠和优化后避免干扰的要求，应限制节理 A 的坐标。 和一些约束应设置如下: F1(，) = 200 0 (2) F2 ( ,) = 400 0 (3) F ( ,) = 200 0 (4) 3 (5) F ( ,) = 400 0 4 (6) 哪里 s.t.受限制的手段;LAB和L交流是两个链接的长度，它们是关节 A 的坐标函数; (2) ~ (5) 限制 200 和 400 之间的两个链接长度; (6) 限制链路长度不超过 20 姐妹。 C. 目标函数:根据前面的仿真结果，我们知道 2 缸的驱动力是最大的，当它是水平, 因此，我们用一个链接替换圆柱 2，并在水平时执行静态优化，以简化过程。因此，我们可以将目标函数定义为替代链路的反作用力测量函数的最小化: Min (force e_mea (DVX,DVY) D. 优化的结果:在 ADAMS 中优化表明，当两个链接的长度为 344.07 姐妹和 324.04 姐妹时，接头 A 的最佳位置为 4013.10 43.89。轮长度为 344 姐妹和 324 姐妹，重建链接的实体模型，重新组装繁荣和模拟前面提到的几个过程。生成的结果如图 8-图 11 所示。 图 8.从水平到基础的驱动力曲线 图 9.优化后从水平到屋顶的驱动力曲线 图 10.从水平到墙的驱动力曲线 图 11.驱动力曲线从水平到垂直后 从上述图可知，优化后的驱动力曲线形状与优化前的曲线形状相似，2 缸的驱动力与 1 缸和 3 缸下降到同一水平。 V. CONCLUSION 本文介绍了一种完整的卡车混凝土泵臂架液压缸驱动力的仿真和优化过程。首先建立虚拟样机 Pro/E 和 ADAMS 与机构/Pro 的结合 这是两者之间的独家接口软件; 然后模拟几个过程的繁荣转换 从水平到典型姿势，并生成驱动 力曲线; 最后根据 仿真结果。 用这种方法，我们可以进行设计, 仿真和优化的机械系统 方便没有复杂数学公式 推导并得到满意的结果。 引用： [1] 施先欣，郑永生，徐怀玉，冯敏，张永生 彭城，载货汽车臂架有限元分析基于 ANSYS 的混凝土泵，工程机械，2009, (04): 79-82。(中文) [2] 严丽娟，冯敏，徐怀宇 有限元计算并对 HB37 型混凝土泵车的动臂进行了分析工程机械设备，2005,36 (1): 30-32.(在中文) [3] 张燕伟，唐丽，孙国正 [4] 基于 ANSYS 的混凝土泵臂架结构分析，武汉理工大 学学报 (交通科学与工程)，2004,28 (4): 536-539。(中文) [4] 张大庆, LU 彭敏, 清华, 浩 彭, 混凝土结构动力强度试验研究泵自动，振动与冲击学报，2005,24 (3): 111-113。(在 中文) [5] 陆彭民，万夫红兵，张大庆， 影响混凝土泵车冲击下的结构动力特性《中国公路运输学报》，2003,16 (4): 115-117. (中文) [6] 刘杰，戴丽，赵丽娟，蔡娟，张晶 [7] 混凝土泵车臂柔性多体动力学建模与仿真，中国机械工程学报，2007,43 (11): 131-135。(中文) [7] 苏晓平，殷晨波，王东芳，蒋涛，徐程 基于仿真的混凝土凸轮车臂架多体动力学，中国建筑机械学报, 2004,2 (2): 167-170。(中文) [8] NI 金丰，徐成， 转化络合物的方法模型从 Pro/E 到 ADAMS，机械工程师，2004，“” (9):