本文關(guān)鍵詞： 裝載機(jī) 可控機(jī)構(gòu) 機(jī)構(gòu)綜合 運(yùn)動(dòng)學(xué) 奇異性 尺度綜合 尺度優(yōu)化　出處：《廣西大學(xué)》2015年博士論文　論文類型：學(xué)位論文

【摘要】：工程機(jī)械是工程建設(shè)領(lǐng)域最為常見(jiàn)的一種施工機(jī)械,包括裝載機(jī)、挖掘機(jī)、推土機(jī)等,廣泛應(yīng)用于農(nóng)田、水利、市政、交通等建設(shè)施工領(lǐng)域。隨著經(jīng)濟(jì)發(fā)展模式的轉(zhuǎn)變以及城市化進(jìn)程的不斷推進(jìn),市政工程、路面養(yǎng)護(hù)、小區(qū)清潔等在人流密集區(qū)的施工需求不斷增長(zhǎng)。隨著人們環(huán)保意識(shí)的日益增強(qiáng)以及小型化施工需求的不斷增多,傳統(tǒng)工程機(jī)械因其能耗高、噪音大、尾氣排放嚴(yán)重、維護(hù)保養(yǎng)困難等問(wèn)題,已很難適應(yīng)要求日益嚴(yán)苛的微型小工程機(jī)械市場(chǎng)。但近幾年開(kāi)展的“數(shù)控一代”裝備創(chuàng)新工程,給傳統(tǒng)工程機(jī)械技術(shù)升級(jí)帶來(lái)了機(jī)遇�？煽貦C(jī)構(gòu)作為一種將計(jì)算機(jī)控制、電傳動(dòng)與傳統(tǒng)機(jī)構(gòu)相結(jié)合的機(jī)電產(chǎn)品,不僅有效解決了傳統(tǒng)機(jī)構(gòu)運(yùn)動(dòng)缺乏柔性、運(yùn)動(dòng)規(guī)律難控制等問(wèn)題,而且電傳動(dòng)機(jī)械效率高、噪音小,兼具很高的可靠性,因而成為了機(jī)構(gòu)學(xué)研究熱點(diǎn)領(lǐng)域。在可控機(jī)構(gòu)相關(guān)理論研究方面很多學(xué)者做了大量研究,但研究成果較難轉(zhuǎn)化為工程應(yīng)用,僅在可控壓力機(jī)、機(jī)器人平臺(tái)等個(gè)別領(lǐng)域有所應(yīng)用。開(kāi)展可控機(jī)構(gòu)式工程機(jī)械理論及應(yīng)用研究課題,不僅對(duì)解決傳統(tǒng)工程機(jī)械能耗、噪音、尾氣污染等問(wèn)題具有積極意義,而且有助于提升傳統(tǒng)工程機(jī)械的可靠性,推動(dòng)智能化升級(jí),增強(qiáng)國(guó)產(chǎn)微小型工程機(jī)械市場(chǎng)競(jìng)爭(zhēng)力。近幾年,雖然課題組針在可控機(jī)構(gòu)式工程機(jī)械方面做了一些研究工作,但在基于性能要求的執(zhí)行機(jī)構(gòu)構(gòu)型設(shè)計(jì)、運(yùn)動(dòng)學(xué)分析、尺度優(yōu)化設(shè)計(jì)、執(zhí)行機(jī)構(gòu)工程應(yīng)用等方面未進(jìn)行深入研究,存在執(zhí)行機(jī)構(gòu)難以達(dá)到工程機(jī)械性能要求等問(wèn)題。針對(duì)上述問(wèn)題,本文將以裝載機(jī)為研究對(duì)象,提出一類適用于微小型裝載機(jī)領(lǐng)域的新型可控裝載機(jī)構(gòu),并在此基礎(chǔ)上,研究滿足裝載機(jī)性能要求的可控裝載機(jī)構(gòu)相關(guān)設(shè)計(jì)理論和研究方法,在此基礎(chǔ)上開(kāi)展可控裝載機(jī)構(gòu)應(yīng)用等相關(guān)研究。主要工作和創(chuàng)新點(diǎn)如下：(1)基于圖論,研究了一種以功能點(diǎn)判斷為基礎(chǔ)的面向功能要求的可控機(jī)構(gòu)式工程機(jī)械構(gòu)型綜合方法。利用該方法對(duì)可控裝載機(jī)構(gòu)進(jìn)行了全面、系統(tǒng)的構(gòu)型綜合研究。通過(guò)分析現(xiàn)有裝載機(jī)構(gòu)型,確定可控裝載機(jī)構(gòu)拓?fù)浣Y(jié)構(gòu)要求,進(jìn)而得到桿件類配方案；再利用拓?fù)渑邎D插點(diǎn)的相關(guān)方法得到全部滿足拓?fù)浣Y(jié)構(gòu)要求的機(jī)構(gòu)拓?fù)鋱D；根據(jù)可控執(zhí)行機(jī)構(gòu)設(shè)計(jì)要求及功能特點(diǎn),確定拓?fù)浣Y(jié)構(gòu)中功能性構(gòu)件存在條件,在此基礎(chǔ)上通過(guò)功能點(diǎn)的判斷獲得每種拓?fù)鋱D對(duì)應(yīng)的符合功能要求的所有可行特定化方案；通過(guò)給出優(yōu)選準(zhǔn)則,對(duì)拓?fù)鋱D可行特定化方案進(jìn)行優(yōu)選,并按照特定化代碼將拓?fù)鋱D轉(zhuǎn)化為可控裝載機(jī)構(gòu)簡(jiǎn)圖,最終得到了11種滿足可控裝載機(jī)構(gòu)優(yōu)選原則的最佳構(gòu)型。通過(guò)利用該拓?fù)渚C合方法對(duì)可控機(jī)構(gòu)式工程機(jī)械進(jìn)行構(gòu)型綜合研究,申請(qǐng)并獲得了多項(xiàng)發(fā)明專利。(2)基于變胞原理針對(duì)可控機(jī)構(gòu)式工程機(jī)械提出了一種主動(dòng)變胞方法。通過(guò)在可控裝載機(jī)構(gòu)中引入運(yùn)動(dòng)副鎖緊裝置,適時(shí)改變有效運(yùn)動(dòng)副的數(shù)量,進(jìn)而引起機(jī)構(gòu)拓?fù)浣Y(jié)構(gòu)和自由度的變化,從而實(shí)現(xiàn)可控裝載機(jī)構(gòu)根據(jù)不同工況在不同構(gòu)態(tài)間的轉(zhuǎn)換,滿足各工況下的工作要求,該方法有效降低了主動(dòng)桿的數(shù)量,進(jìn)而減少了驅(qū)動(dòng)元件數(shù)量,降低了成本。(3)針對(duì)可控機(jī)構(gòu)式工程機(jī)械,研究了基于性能要求的運(yùn)動(dòng)學(xué)分析的一般方法。利用該方法對(duì)可控裝載機(jī)構(gòu)進(jìn)行了運(yùn)動(dòng)學(xué)正、逆問(wèn)題求解,奇異性分析以及運(yùn)動(dòng)學(xué)尺度綜合研究�；贜ewton-Raphson數(shù)值算法建立了可控裝載機(jī)構(gòu)運(yùn)動(dòng)學(xué)正解和逆解模型；基于運(yùn)動(dòng)學(xué)Jacobian矩陣求解了可控裝載機(jī)構(gòu)正、逆運(yùn)動(dòng)學(xué)奇異性,得到了包括共線性奇異結(jié)構(gòu)、三角形奇異結(jié)構(gòu)在內(nèi)的共16種奇異結(jié)構(gòu)；基于裝載機(jī)性能要求,對(duì)可控裝載機(jī)構(gòu)鏟斗、動(dòng)臂升降支鏈、鏟斗翻轉(zhuǎn)支鏈進(jìn)行了尺度綜合研究,獲得了一組符合可控裝載機(jī)構(gòu)設(shè)計(jì)要求的可行尺度參數(shù)。(4)針對(duì)可控機(jī)構(gòu)式工程機(jī)械,研究了動(dòng)力學(xué)尺度優(yōu)化方法。根據(jù)可控機(jī)構(gòu)式工程機(jī)械作業(yè)特點(diǎn),首先利用動(dòng)態(tài)靜力法對(duì)動(dòng)力學(xué)逆問(wèn)題進(jìn)行求解,獲得各構(gòu)件約束反力及主動(dòng)桿驅(qū)動(dòng)轉(zhuǎn)矩；然后建立以執(zhí)行機(jī)構(gòu)在某工況中最大驅(qū)動(dòng)轉(zhuǎn)矩最小為優(yōu)化目標(biāo),以奇異性、傳動(dòng)角等為約束條件的執(zhí)行機(jī)構(gòu)動(dòng)力學(xué)尺度優(yōu)化模型；最后利用復(fù)合形法、罰函數(shù)法等對(duì)優(yōu)化模型進(jìn)行數(shù)值求解,獲得執(zhí)行機(jī)構(gòu)的尺度參數(shù)。利用該方法對(duì)可控裝載機(jī)構(gòu)動(dòng)臂升降支鏈進(jìn)行了動(dòng)力學(xué)尺度優(yōu)化,使第一主動(dòng)桿在上限舉升工況中最大負(fù)載轉(zhuǎn)矩降低了11%,在上限卸料工況負(fù)載轉(zhuǎn)矩降低了80%,有效改善了可控裝載機(jī)構(gòu)力學(xué)性能。(5)在上述分析的基礎(chǔ)上,基于裝載機(jī)性能指標(biāo)對(duì)可控裝載機(jī)構(gòu)進(jìn)行了虛擬仿真、結(jié)構(gòu)分析、樣機(jī)實(shí)驗(yàn)。根據(jù)裝載機(jī)性能指標(biāo)以及可控裝載機(jī)構(gòu)設(shè)計(jì)要求,對(duì)可控裝載機(jī)構(gòu)進(jìn)行了虛擬仿真,仿真結(jié)果表明動(dòng)臂擺動(dòng)角度、鏟斗卸載角、卸載高度等關(guān)鍵性能參數(shù)符合設(shè)計(jì)要求；通過(guò)對(duì)特定工況及姿態(tài)下各構(gòu)件進(jìn)行有限元分析,獲得了各構(gòu)件應(yīng)力及應(yīng)變分布情況；最后,研制了首臺(tái)全尺寸可控機(jī)構(gòu)式裝載機(jī),并進(jìn)行了負(fù)載舉升實(shí)驗(yàn)。通過(guò)與傳統(tǒng)裝載機(jī)對(duì)比可知,新型可控結(jié)構(gòu)式裝載機(jī)是一款具有低能耗、零排放、低噪音、高可靠性等眾多技術(shù)優(yōu)勢(shì)的新型工程機(jī)械,非常適合小型裝載機(jī)。
[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.

【學(xué)位授予單位】：廣西大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2015
【分類號(hào)】：TU602

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