Transient Dynamic Analysis And Simulation Research Of Hydraulic Excavator Working Device

With the development of the economy, the hydraulic excavator as one of the main types of earthmoving machine is widely used in bridge construction, trench excavation, highway engineering, earthwork construction and mine exploitation etc.The working device which as the direct implementation to complete digging and loading work, the researchers care more about its strength, stiffness and reasonable structure. The traditional method of working device’s designing and checking is based on the maximum stress and safety factor in several typical excavating conditions. Because of the poor working conditions, what the working device withstands is the dynamic load during all the digging process. The design of working device requirements need meet the certain static strength, while what requirements of dynamic strength design should be verified. In order to provide reference for the dynamic designing of working device, the thesis took6tons small excavator as research object, static contact analysis, Kinematic analysis, modal analysis and dynamic analysis of working device which were calculated by ANSYS Workbench and MSC.ADAMS finite element analysis software.A specific course of the thesis is as follows:(1) The Kinematics model of excavator working device was constructed by D-H Method, and then got the carriage position of excavator in three-dimensions.(2) Inverse kinematics of excavator working device was researched and calculated, the equations of angular velocity and angular acceleration of hinge joint were calculated, and the equations of digging force and the digging resistance were researched and calculated.(3) This thesis took6tons small excavator-WY6.3as research object whose working device’s static contact analysis and modal analysis were calculated.(4) The model of the working device was constructed by Pro/E. The hydraulic excavator’s movement envelope and workspace were calculated by ADAMS virtual prototype.(5) Tangential resistance, normal resistance and material gravity were calculated as the data loading to ADAMS virtual prototype, took the data about hinge point force calculated by ADAMS virtual prototype loading into FEM model. Dynamic analysis of boom and stick was calculated when the working device was digging and unloading, and then whether the working device’s strength, stiffness meets the requirements of design were evaluated according to the results of dynamic analysis, which provided theoretical foundation for the dynamic design and life estimates of the working device.