CN107220459B - Finite element analysis method for push rod of bulldozer - Google Patents
Finite element analysis method for push rod of bulldozer Download PDFInfo
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- CN107220459B CN107220459B CN201710481398.9A CN201710481398A CN107220459B CN 107220459 B CN107220459 B CN 107220459B CN 201710481398 A CN201710481398 A CN 201710481398A CN 107220459 B CN107220459 B CN 107220459B
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- G06F30/20—Design optimisation, verification or simulation
- G06F30/23—Design optimisation, verification or simulation using finite element methods [FEM] or finite difference methods [FDM]
Abstract
The invention discloses a finite element analysis method for a push rod of a bulldozer, belongs to the technical field of structural analysis methods for bulldozers, and is designed for solving the problems that the existing push rod finite element analysis result has larger deviation from the actual result, lower analysis efficiency and the like. The invention provides a finite element analysis method of a bulldozer push rod, which comprises the following steps: simulating a hydraulic cylinder and an inclined support in the finite element model by using the equivalent unit; the hinge point positions of a hydraulic cylinder and an inclined support in the three-dimensional model are respectively transformed into one node position of an equivalent unit in the finite element model through coordinate transformation; and moving the other node position to perform finite element analysis on the push rod under different working conditions. The finite element analysis method of the bulldozer push rod solves the problems that the existing push rod finite element analysis result has larger deviation with the actual result, lower analysis efficiency and the like.
Description
Technical Field
The invention relates to the technical field of bulldozer structure analysis methods, in particular to a finite element analysis method for a push rod of a bulldozer
Background
The bulldozer is in a severe working environment, the design parameters of the bulldozer can generally meet normal working conditions, but the user is not operated properly or encounters severe working conditions, the weak part of the working device is damaged, and the welding seam of the push rod is relatively easy to open. In order to enable the product performance to be more stable, finite element simulation analysis is carried out on the severe working conditions, and the weak part is avoided from a region with larger stress.
In the whole finite element analysis process of the push rod, the constraint mode has great influence on the analysis result. The actual constraint of a single push rod is 3 revolute pairs: the push rod-shovel blade revolute pair, the push rod-inclined oil cylinder revolute pair and the push rod-inclined support revolute pair are arranged on the shovel blade revolute pair; 1 spherical hinge pair: push rod-trolley spherical hinge pair. At present, when constraints are added to a finite element model of a push rod, most of the constraints are added to the finite element model according to an actual constraint mode, but by contrasting actual welding or damage positions and test data of the push rod, the finite element analysis result in the constraint mode has larger deviation with the actual. In addition, the push rod is different in position and posture relative to other components under each working condition, if the finite element model is constrained according to an actual constraint mode, the components related to the push rod need to be simultaneously introduced into the finite element environment, different working conditions can be simulated and analyzed, the model needs to be processed and meshes need to be divided for many times, repeated work is large, and efficiency is low.
Disclosure of Invention
The invention aims to provide a bulldozer structure analysis method, which solves the problems that the existing push rod finite element analysis result has larger deviation from the actual result, lower analysis efficiency and the like.
In order to achieve the purpose, the invention adopts the following technical scheme:
a bulldozer structure analysis method comprises the following steps: simulating a hydraulic cylinder and an inclined support in the finite element model by using the equivalent unit; the positions of the hinge points of the hydraulic cylinder and the inclined support in the three-dimensional model are respectively transformed into one node position of the equivalent unit in the finite element model through coordinate transformation; one node position of the equivalent unit in the finite element model is relatively unchanged, the other node position is moved, finite element analysis is carried out on the push rod under different working conditions, the equivalent unit comprises two spring units, the two spring units respectively simulate the hydraulic cylinder and the inclined support in the finite element model,
the method specifically comprises the following steps:
step S1, establishing a three-dimensional CAD model;
step S2, performing model checking on the established model;
step S3, moving the checked model to a preset position;
step S4, importing the model obtained in the step S3 into a finite element working environment;
step S5, defining material parameters, processing a model and dividing grids;
step S6, constraint is applied;
step S7, establishing a spring unit and adding load;
and step S8, finite element analysis and data processing.
As a preferable aspect of the present invention, the parameters of the spring unit include a stiffness k and a damping coefficient Cv; the above-mentionedStiffness k is defined by an equivalent stiffness keqDetermining that the damping coefficient Cv is a constant;
wherein A is the average cross sectional area of the inclined support and the hydraulic cylinder; e is the modulus of elasticity; l is the length of the hinge point at the two ends of the inclined support or the hydraulic cylinder and is determined by the positions of the two nodes.
As a preferred embodiment of the present invention, when the global coordinate system Sigma O of the finite element model is useduxyz and global coordinate system Σ O of CAD modelgWhen abc is not overlapped, coordinate transformation is required.
As a preferred embodiment of the present invention, the coordinate system Sigma Ogabc with respect to a coordinate system Σ OuHomogeneous transformation matrix of xyzuTgComprises the following steps:
wherein:uPgas the origin of coordinates OgIn sigma OuPosition in xyz;uRgis a Euler angle coordinate rotation transformation formula.
As a preferred embodiment of the present invention, the above-mentioneduRgThe transformation formula for euler angle coordinate rotation is as follows:
wherein, theta, alpha and delta are coordinate system Sigma OgCoordinate axis of abc with respect to coordinate system Σ OuThe angle of rotation of xyz.
As a preferred embodiment of the present invention, when the coordinate system Sigma Ouxyz and Σ OgWhen abc is present in the form of a double bond,uTgis an identity matrix.
As a preferred embodiment of the present invention, the model obtained in step S3 is introduced into a finite element working environment, and the introduction times are one.
The invention has the beneficial effects that:
the finite element analysis method of the bulldozer push rod utilizes the equivalent unit to simulate the hydraulic cylinder and the inclined strut in the finite element model; the positions of the hinge points of the hydraulic cylinder and the inclined support in the three-dimensional model are converted into the first node position of the equivalent unit in the finite element model after coordinate transformation; and moving the first node position to perform finite element analysis on the push rod under different working conditions. When the push rod is subjected to simulation analysis of a plurality of working conditions, a finite element model of another working condition can be reconstructed only by changing the transformation matrix, so that the repeated work of model processing, grid division and the like is reduced, and the working efficiency is improved; when finite element analysis is carried out on the push rod, other parts except the push rod do not need to be analyzed, the calculation speed is increased, and resources are saved; the accuracy of the analysis result is improved.
Drawings
FIG. 1 is a flow chart of a finite element analysis method for a bulldozer push rod according to a preferred embodiment of the present invention;
FIG. 2 is a node and graph of a spring unit provided in accordance with a preferred embodiment of the present invention;
FIG. 3 is a schematic diagram of coordinate transformation of a putter in accordance with a preferred embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating the construction and coordinate reversal of spring elements in a finite element model of a putter in accordance with a preferred embodiment of the present invention.
Labeled as:
1. inclining the oil cylinder; 2. a right push rod; 3. obliquely supporting; 4. a left push rod; 5. a scraper knife; 6. and lifting the oil cylinder.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
The preferred embodiment:
the preferred embodiment discloses a finite element analysis method of a push rod of a bulldozer. As shown in fig. 3, the working module of the bulldozer comprises a left push rod 4, a right push rod 2, an inclined support 3, an inclined oil cylinder 1, a blade 5 and a lifting oil cylinder 6, wherein one end of the inclined oil cylinder 1 is connected with the right push rod 2, and the other end is connected with the blade 5; one end of the inclined support 3 is connected with the right push rod 2, and the other end is connected with the scraper knife 5.
To better explain the technical solution of the present embodiment, the related terms are explained as follows:
push rod: also known as a pushing beam, for connecting a blade of a bulldozer with a trolley.
Obliquely supporting: one end of the supporting structural member is connected to a push rod through a pin shaft or a ball head, and the other end of the supporting structural member is connected to a scraper knife through the ball head.
A spring unit: is one of the simulation cell libraries, with axial or torsional behavior.
Homogeneous coordinates: homogeneous coordinates are a concept in robotics. Generally, describing the relationship between two coordinate systems requires defining the relative positions of two origins and the included angle between the coordinate axes, such as Cartesian coordinate system SigmauOne point P in xyz can be expressed as P ═ P (P)x,py,pz) The P point has a coordinate system sigma Pnoa, and the projection relation between coordinate axes can use a 3 x 3 order matrixuRpIndicating that the coordinate system Σ Pnoa is relative to Σ OuThe position and attitude of xyz can be conveniently expressed in homogeneous coordinates as:
in this embodiment, two spring units are used to respectively simulate a hydraulic cylinder and an inclined strut in a finite element model, as shown in fig. 2, two ends of each spring unit are respectively provided with an I node and a J node, and parameters of the spring units further include stiffness k and a damping coefficient Cv; the positions of the hinge points of the hydraulic cylinder and the inclined support in the three-dimensional CAD model are respectively transformed into the position of one node (I node or J node) of the equivalent unit in the finite element model through coordinate transformation; and in the finite element model, the position of one node (I node or J node) of the equivalent unit is relatively unchanged, and the position of the other node (J node or I node) is moved to perform finite element analysis on the push rod under different working conditions.
As shown in FIG. 1, the finite element analysis method of the push rod of the bulldozer specifically comprises the following steps:
and step S1, establishing a three-dimensional CAD model.
Step S2, performing model checking on the established model; the CAD model created in step S1 is mostly designed and manufactured, and is not the same as the model for finite element analysis with respect to its emphasis, so that the model needs to be checked and some details processed.
Step S3, moving the checked model to a preset position; and (3) moving the model to a specific position by utilizing the kinematic simulation function of the CAD software, and if a plurality of working conditions are to be analyzed, moving the model to the specific working conditions respectively.
Step S4, importing the model obtained in step S3 into a finite element working environment (ANSYS Workbench environment) only once.
Step S5, defining material parameters, processing a model and dividing grids; the material parameters of parts of each part of the push rod are defined, smaller edges and surfaces in the model are processed, meshing is convenient, and the meshing is controlled manually, so that the quality of the push rod is higher.
Step S6, constraint is applied; a ground-push rod revolute pair was added at hinge point E in fig. 3 to simulate a blade-push rod revolute pair.
Step S7, establishing a spring unit and adding load; the hinge point on the push rod (the left push rod 4 or the right push rod 2) does not need coordinate transformation, and a local coordinate system is established at the corresponding position in the finite element model and is associated with the I node; the hinge point of the other end of the hydraulic cylinder (the inclined oil cylinder 1) and the inclined support 3 which are not directly connected with the push rod needs to be subjected to coordinate transformation, the corresponding position of the hinge point in the finite element model is determined, and then the hinge point can be associated with the J node. And adding a load at a hinge point O, namely a trolley-push rod spherical hinge pair, performing coordinate inversion on the basis of a global coordinate system, and adding the load by referring to the inverted coordinate system.
In the ansys unit library, a spring unit has axial and torsional properties, and by utilizing the axial properties of the spring unit, the spring unit is named spring in workbench, and parameters needing to be determined during use are as follows:
1. i, J-node-position and length for spring unit;
2. stiffness k is defined by an equivalent stiffness keqAnd (6) determining. In any posture, the hydraulic cylinder and the inclined support can be regarded as a pull rod or a pressure rod, and in the elastic area, the equivalent stiffness can be approximately obtained by the following formula:
wherein: a is the average cross sectional area of the inclined support and the hydraulic cylinder; e is the modulus of elasticity, taken as 2.1E11pa; l is the length of the hinge point at the two ends of the inclined support or the hydraulic cylinder and is determined by the positions of the joints I and J;
3. the damping coefficient Cv is used for calculating damping force and can be set as constant, and the damping force F in statics analysiscIs zero. The reason can be derived as follows:
wherein v is the velocity calculated in the last sub-step, uxIs a displacement.
4. Homogeneous coordinate transformation when the global coordinate of the finite element model is overlapped or not overlapped with the global coordinate system of the CAD model:
global coordinate system sigma-O under Workbench environmentuxyz and global coordinate system Σ O of CAD modelgWhen abc is not overlapped, coordinate transformation is needed so as to define the load direction and determine the I, J node position in the next step, and a coordinate system sigma O is neededgabc with respect to a coordinate system Σ OuHomogeneous transformation matrix of xyzuTg：
Wherein:uPgas the origin of coordinates OgIn sigma OuPosition in xyz;uRgthe Euler angle coordinate rotation transformation formula is adopted;
the above-mentioneduRgThe transformation formula for euler angle coordinate rotation is as follows:
wherein, theta, alpha and delta are coordinate system Sigma OgCoordinate axis of abc with respect to coordinate system Σ OuThe angle of rotation of xyz.
When the coordinate system is Sigma Ouxyz and Σ OgWhen abc is present in the form of a double bond,uTgis an identity matrix of 4 x 4 order.
5. Load direction definition and J-node position determination:
referring to FIG. 3, the global coordinate systems of the finite element model and the CAD model are coincident, each in terms of Σ Ouxyz denotes Σ Omnk as a coordinate system fixed to the push rod. During finite element analysis, only the right push rod 2 is led into a workbench, and the scraper knife 5, the hydraulic cylinder, the inclined support 3 and the like are not led into the workbench.
In order to simulate a certain working condition of the push rod, through the kinematic simulation of CAD software, the push rod coordinate system Sigma Omnk moves to Sigma O'm' n 'k', the hinge point D moves to D ', and the position of the hinge point D' in the finite element model is used for determining the J node of spring. In the finite element model, the putter model and the global coordinate system Sigma-Ouxyz are all immobile, so direct reference to the finite element model global coordinate system Σ Ouxyz add D' and apply load is incorrect.
Global coordinate system Σ Ouxyz inversion to Σ Ou'x ' y ' z ', the angle value is the same as the angle of Σ O'm ' n ' k ' with respect to Σ Omnk, and the direction is opposite. Therefore, the rotation angle of the push rod geometric body relative to the global coordinate system can be measured in a CAD environment, and then an inverse coordinate system is constructed in a finite element environment. When a load is applied, the loadThree components of load reference Σ Ou'x ' y ' z ' application.
After a hinged point D in the CAD model moves to D ', measuring D' relative to a global coordinate system sigma-OuCoordinate values of xyz, denoteduD', howeveruThe value of D 'is transformed by coordinates to create a corresponding D' in the finite element environment, which is relative to Σ Ou'In the case of x ' y ' z ', the symbols areu'D'. Coordinate system Σ Ouxyz relative to the coordinate system Σ Ou'Coordinate rotation transformation matrix with Euler angles of 3 x 3 order in x 'y' zu'Ru，u'RuStructural reference ofuRgIn finite element modelu'D' has:u'D'＝u'Ru uD'。
and step S8, finite element analysis and data processing.
The equivalent unit in this embodiment includes, but is not limited to, a spring unit, and may also be a beam or other rigid unit. Simulating a hydraulic cylinder and an inclined support in a finite element model by using a spring unit; the posture of the spring unit relative to the push rod is changed by changing the coordinate transformation matrix so as to simulate different working conditions of the push rod.
To better illustrate the above process, the following is exemplified:
the CAD models of the blade and the push rod of the bulldozer are shown in fig. 3, e.g. the global coordinate systems of the CAD model and the finite element model are superimposed, and now the finite element analysis is performed on the right push rod 2 in fig. 3. According to the operation flow in fig. 1, the work of model checking, the work of leading the right push rod 2 into the workbench, adding materials, model processing, grid dividing and the like is completed;
respectively establishing corresponding local coordinate systems in a workbench environment by referring to the position of a hinge point O, A, B, E in a CAD model, and respectively determining the positions of one ends of spring1 and spring2 by two local coordinate systems at A, B, as shown in FIG. 4 (an arrow 1 in the figure refers to a global coordinate system, and an arrow 2 in the figure refers to a global coordinate system after coordinate inversion);
in the CAD software, performing kinematic simulation on the scraper knife 5 and the push rod CAD model in the figure 3, measuring the rotation angle of the push rod relative to the global coordinate system after reaching a specific position, and building a new coordinate system on the basis of the global coordinate system and reversing the coordinate system, as shown in figure 4;
measuring the position of the hinge point C, D relative to the global coordinate system of the CAD model from the CAD environment, transforming the C, D point into the reversed global coordinate system, and finally determining the other end positions of the spring1 and the spring2, wherein the rigidity of the spring is determined by the position of the other end position of the spring as shown in figure 4
And (4) determining.
The embodiments described above are only preferred embodiments of the present invention, rather than limitations, and modifications of the embodiments of the present invention or equivalent substitutions for some features without departing from the spirit of the present invention are intended to be included within the scope of the claims. The scope of protection of the present invention also includes any alternative technical solutions that can be conceived by a person skilled in the art without inventive effort.
Claims (7)
1. A finite element analysis method of a bulldozer push rod is characterized in that an equivalent unit is utilized to simulate a hydraulic cylinder and an inclined support in a finite element model; the positions of the hinge points of the hydraulic cylinder and the inclined support in the three-dimensional model are respectively transformed into one node position of the equivalent unit in the finite element model through coordinate transformation; one node position of the equivalent unit in the finite element model is relatively unchanged, the other node position is moved, finite element analysis is carried out on the push rod under different working conditions, the equivalent unit comprises two spring units, the two spring units respectively simulate the hydraulic cylinder and the inclined support in the finite element model,
the method specifically comprises the following steps:
step S1, establishing a three-dimensional CAD model;
step S2, performing model checking on the established model;
step S3, moving the checked model to a preset position;
step S4, importing the model obtained in the step S3 into a finite element working environment;
step S5, defining material parameters, processing a model and dividing grids;
step S6, constraint is applied;
step S7, establishing a spring unit and adding load;
and step S8, finite element analysis and data processing.
2. A finite element analysis method of a bulldozer push rod according to claim 1, characterised in that said spring element parameters include stiffness k and damping coefficient Cv; the stiffness k is defined by an equivalent stiffness keqDetermining that the damping coefficient Cv is a constant;
wherein A is the average cross sectional area of the inclined support and the hydraulic cylinder; e is the modulus of elasticity; l is the length of the hinge point at the two ends of the inclined support or the hydraulic cylinder and is determined by the positions of the two nodes.
3. The finite element analysis method of a bulldozer push rod according to claim 2, characterized in that when the global coordinate system Σ O of the finite element model is useduxyz and global coordinate system Σ O of CAD modelgWhen abc is not overlapped, coordinate transformation is required.
4. A finite element analysis method of a bulldozer push rod according to claim 3,
coordinate system Σ Ogabc with respect to a coordinate system Σ OuHomogeneous transformation matrix of xyzuTgComprises the following steps:
wherein:uPgas the origin of coordinates OgIn sigma OuBits in xyzPlacing;uRgis a Euler angle coordinate rotation transformation formula.
5. A finite element analysis method of a bulldozer push rod according to claim 4, characterised in that said finite element analysis method is a finite element analysis method of a bulldozer push roduRgThe transformation formula for euler angle coordinate rotation is as follows:
wherein, theta, alpha and delta are coordinate system Sigma OgCoordinate axis of abc with respect to coordinate system Σ OuThe angle of rotation of xyz.
6. The finite element analysis method of a bulldozer push rod according to claim 5, characterized in that when the coordinate system Σ Ouxyz and Σ OgWhen abc is present in the form of a double bond,uTgis an identity matrix.
7. The finite element analysis method of a bulldozer push rod according to claim 1, characterized in that said model obtained in step S3 is introduced into a finite element working environment once.
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