新型可控装载机构设计理论与应用研究

发布时间：2018-02-27 20:20

本文关键词： 装载机可控机构机构综合运动学奇异性尺度综合尺度优化　出处：《广西大学》2015年博士论文　论文类型：学位论文

【摘要】：工程机械是工程建设领域最为常见的一种施工机械,包括装载机、挖掘机、推土机等,广泛应用于农田、水利、市政、交通等建设施工领域。随着经济发展模式的转变以及城市化进程的不断推进,市政工程、路面养护、小区清洁等在人流密集区的施工需求不断增长。随着人们环保意识的日益增强以及小型化施工需求的不断增多,传统工程机械因其能耗高、噪音大、尾气排放严重、维护保养困难等问题,已很难适应要求日益严苛的微型小工程机械市场。但近几年开展的“数控一代”装备创新工程,给传统工程机械技术升级带来了机遇。可控机构作为一种将计算机控制、电传动与传统机构相结合的机电产品,不仅有效解决了传统机构运动缺乏柔性、运动规律难控制等问题,而且电传动机械效率高、噪音小,兼具很高的可靠性,因而成为了机构学研究热点领域。在可控机构相关理论研究方面很多学者做了大量研究,但研究成果较难转化为工程应用,仅在可控压力机、机器人平台等个别领域有所应用。开展可控机构式工程机械理论及应用研究课题,不仅对解决传统工程机械能耗、噪音、尾气污染等问题具有积极意义,而且有助于提升传统工程机械的可靠性,推动智能化升级,增强国产微小型工程机械市场竞争力。近几年,虽然课题组针在可控机构式工程机械方面做了一些研究工作,但在基于性能要求的执行机构构型设计、运动学分析、尺度优化设计、执行机构工程应用等方面未进行深入研究,存在执行机构难以达到工程机械性能要求等问题。针对上述问题,本文将以装载机为研究对象,提出一类适用于微小型装载机领域的新型可控装载机构,并在此基础上,研究满足装载机性能要求的可控装载机构相关设计理论和研究方法,在此基础上开展可控装载机构应用等相关研究。主要工作和创新点如下：(1)基于图论,研究了一种以功能点判断为基础的面向功能要求的可控机构式工程机械构型综合方法。利用该方法对可控装载机构进行了全面、系统的构型综合研究。通过分析现有装载机构型,确定可控装载机构拓扑结构要求,进而得到杆件类配方案；再利用拓扑胚图插点的相关方法得到全部满足拓扑结构要求的机构拓扑图；根据可控执行机构设计要求及功能特点,确定拓扑结构中功能性构件存在条件,在此基础上通过功能点的判断获得每种拓扑图对应的符合功能要求的所有可行特定化方案；通过给出优选准则,对拓扑图可行特定化方案进行优选,并按照特定化代码将拓扑图转化为可控装载机构简图,最终得到了11种满足可控装载机构优选原则的最佳构型。通过利用该拓扑综合方法对可控机构式工程机械进行构型综合研究,申请并获得了多项发明专利。(2)基于变胞原理针对可控机构式工程机械提出了一种主动变胞方法。通过在可控装载机构中引入运动副锁紧装置,适时改变有效运动副的数量,进而引起机构拓扑结构和自由度的变化,从而实现可控装载机构根据不同工况在不同构态间的转换,满足各工况下的工作要求,该方法有效降低了主动杆的数量,进而减少了驱动元件数量,降低了成本。(3)针对可控机构式工程机械,研究了基于性能要求的运动学分析的一般方法。利用该方法对可控装载机构进行了运动学正、逆问题求解,奇异性分析以及运动学尺度综合研究。基于Newton-Raphson数值算法建立了可控装载机构运动学正解和逆解模型；基于运动学Jacobian矩阵求解了可控装载机构正、逆运动学奇异性,得到了包括共线性奇异结构、三角形奇异结构在内的共16种奇异结构；基于装载机性能要求,对可控装载机构铲斗、动臂升降支链、铲斗翻转支链进行了尺度综合研究,获得了一组符合可控装载机构设计要求的可行尺度参数。(4)针对可控机构式工程机械,研究了动力学尺度优化方法。根据可控机构式工程机械作业特点,首先利用动态静力法对动力学逆问题进行求解,获得各构件约束反力及主动杆驱动转矩；然后建立以执行机构在某工况中最大驱动转矩最小为优化目标,以奇异性、传动角等为约束条件的执行机构动力学尺度优化模型；最后利用复合形法、罚函数法等对优化模型进行数值求解,获得执行机构的尺度参数。利用该方法对可控装载机构动臂升降支链进行了动力学尺度优化,使第一主动杆在上限举升工况中最大负载转矩降低了11%,在上限卸料工况负载转矩降低了80%,有效改善了可控装载机构力学性能。(5)在上述分析的基础上,基于装载机性能指标对可控装载机构进行了虚拟仿真、结构分析、样机实验。根据装载机性能指标以及可控装载机构设计要求,对可控装载机构进行了虚拟仿真,仿真结果表明动臂摆动角度、铲斗卸载角、卸载高度等关键性能参数符合设计要求；通过对特定工况及姿态下各构件进行有限元分析,获得了各构件应力及应变分布情况；最后,研制了首台全尺寸可控机构式装载机,并进行了负载举升实验。通过与传统装载机对比可知,新型可控结构式装载机是一款具有低能耗、零排放、低噪音、高可靠性等众多技术优势的新型工程机械,非常适合小型装载机。
[Abstract]:Engineering machinery is the most common kind of construction machinery for the construction of the project, including loaders, excavators, bulldozers, widely used in farmland, water conservancy, municipal construction, transportation and other construction field. With the transformation of economic development mode and city development, municipal engineering, road maintenance, construction requirement of residential cleaning etc. in the crowded area increasing. With the increasing awareness of environmental protection and the miniaturization of the construction demand is increasing, the traditional mechanical engineering because of its high energy consumption, high noise, exhaust emissions serious problems, difficult maintenance, has been difficult to meet the requirements of small construction machinery market has become increasingly harsh. But in the past few years the CNC generation equipment innovation project, brings opportunities to the traditional mechanical engineering technology upgrading. As a kind of controllable mechanism of computer control, electric drive and the combination of traditional institutions The mechanical and electrical products, not only effectively solve the traditional kinematic problem is lack of flexibility and difficult to control movement, and electric drive high mechanical efficiency, low noise, with high reliability, has become the research hotspot in the field of mechanism. The relevant theoretical research on the controllable mechanism many scholars have done a lot of research, but the research results difficult to translate into engineering application, only in the controllable press, robot platform and other individual fields has been applied. Carry out type controllable mechanism research of construction machinery theory and application research, not only to solve the traditional engineering machinery noise, energy consumption, has positive significance to exhaust pollution problems, but also helps to improve the reliability of traditional engineering machinery, promote intelligent upgrade micro, small engineering machinery to enhance the domestic market competitiveness. In recent years, although the research group of needle in the controllable mechanism type engineering machinery has done some research work, but In the kinematic analysis of configuration design, actuator performance requirements based on scale optimization design, without in-depth research of the implementation institution of engineering applications, the actuator is difficult to meet the performance requirements of engineering machinery and other issues. In view of the above problems, this paper will take the loader as the research object, put forward a kind of new application in micro controlled loader the loading mechanism, and on this basis, the research to meet the performance requirements of the controllable loader loading mechanism design theory and research method, on the basis of the relevant research institutions to carry out controlled application of loading. The main work and innovation are as follows: (1) based on graph theory, in a study of the function point for judging function based on the requirements of the controllable mechanism type engineering machinery configuration synthesis method. By using this method, the controllable loading mechanism comprehensively, the system configuration through comprehensive research. The analysis of the existing loading mechanism, the controllable loading mechanism topology, and then get a rod with the scheme; correlation method map interpolation points by topological topological graph to get all meet the structural requirements; according to the controllable actuator design requirements and functional characteristics, determine the existence condition of function in the topology structure of component. On the basis of the function of the judgment of each topology corresponds with the functional requirements of all feasible specific plan; through the optimization criterion, to optimize the topology of specific feasible scheme, and in accordance with the specific code topology is converted into controllable loading mechanism diagram, finally got the 11 best configuration to meet the controllable the loading mechanism optimization principle. Through using the method of comprehensive study of topology configuration on the controllable mechanism type engineering machinery, application and access to a number of The invention patent. (2) according to the principle of metamorphic mechanism controlled type engineering machinery presents an active metamorphic method based on the controllable loading motion secondary locking device mechanism, timely change the effective number of pairs, and then change the topology structure and the mechanism of degree of freedom, so as to realize the controllable loading mechanism according to the different in the condition of different structure conversion between States, meet the working requirements, the method can effectively reduce the number of active members, thereby reducing the number of driving elements, reduces the cost. (3) according to the controllable mechanism type engineering machinery, study the general method of kinematic analysis based on Performance requirements. By using the method of controllable loading mechanism of kinematics, inverse problem, singularity analysis and kinematic scale comprehensive research. Newton-Raphson numerical algorithm is established based on the controllable loading mechanism motion and positive solutions The inverse kinematics model; Jacobian matrix controlled loading mechanism is based on the inverse kinematics singularity, are linear singular structure, a total of 16 kinds of singular singular structure, triangle structure; loader performance requirements based on controllable loading mechanism of bucket, boom lift bucket chain turnover were studied the synthesis of branched chain, obtained a group to meet the design requirements of the controllable loading mechanism is feasible. The scale parameter (4) for controllable mechanism type engineering machinery, the research method of dynamics optimization. According to the controllable mechanism type scale of construction machinery operation characteristics, firstly, inverse problem of dynamics is solved by dynamic static method, the component constraint force and active driving rod to establish the actuator torque; then in a condition of maximum minimum driving torque as the optimization objective, the singularity, transmission angle as constraint conditions to perform Scale mechanism dynamic optimization model; finally, using complex method, penalty function method and numerical solution of the optimization model, obtain the execution mechanism of the scale parameter. The controllable loading mechanism of dynamic branched boom lift scale optimization by using this method, the first driving rod in the upper limit of the lifting conditions in the maximum load torque is reduced by 11%, unloading the material condition of load torque is reduced by 80% in the upper limit, can effectively improve the mechanical properties of controllable loading mechanism. (5) on the basis of the above analysis, the loader performance indicators for the virtual simulation of controllable loading mechanism, based on structure analysis, prototype experiment. According to the loader performance and design requirements of controllable loading mechanism, controllable the loading mechanism was simulated and the simulation results show that the arm swing angle, dump angle, unloading height and other key performance parameters meet the design requirements; with the special Finite element analysis of each component set condition and attitude, the stress and strain distribution is obtained; finally, the first full size controllable mechanism loader is developed, and the load lifting experiment. Through comparing with the traditional loader, controllable type loader is a structure with low energy consumption, zero emission, low noise, high reliability and many other engineering machinery new technology advantage, very suitable for small loader.

【学位授予单位】：广西大学
【学位级别】：博士
【学位授予年份】：2015
【分类号】：TU602

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