機(jī)械原理課程設(shè)計(jì)模板

機(jī)械原理課程設(shè)計(jì)資料內(nèi)容僅供參考，如有不當(dāng)或者侵權(quán)，請(qǐng)聯(lián)系本人改正或者刪除。機(jī)械原理課程設(shè)計(jì)說明書——自卸車傾卸機(jī)構(gòu)創(chuàng)新設(shè)計(jì)學(xué)院:機(jī)械工程學(xué)院班級(jí):組員:指導(dǎo)教師:二〇一三年一月四日摘要我們組選擇自卸車傾卸機(jī)構(gòu)的創(chuàng)新設(shè)計(jì)作為課程設(shè)計(jì)的題目.為了完成課程設(shè)計(jì),我們首先查找了關(guān)于自卸車傾卸機(jī)構(gòu)的發(fā)展史,了解了自卸車的發(fā)展歷程與現(xiàn)狀.然后我們查找了關(guān)于自卸的國內(nèi)外專利,并分析其機(jī)構(gòu),畫出機(jī)構(gòu)簡圖.知道了自卸車有各種不同的機(jī)構(gòu),并了解了現(xiàn)在常見的自卸機(jī)構(gòu)以及自卸機(jī)構(gòu)未來的發(fā)展趨勢.為了創(chuàng)新設(shè)計(jì),我們現(xiàn)場對(duì)常見自卸車的自卸機(jī)構(gòu)拍照.分析機(jī)構(gòu),并進(jìn)行了運(yùn)動(dòng)鏈的一般化,數(shù)綜合,特定化和具體化等一系列過程.最后得出27個(gè)可能的機(jī)構(gòu)簡圖.在進(jìn)行比較時(shí),我們選擇了一個(gè)不是當(dāng)前流行類型的機(jī)構(gòu)簡圖作為自己的創(chuàng)新設(shè)計(jì).按對(duì)自卸車較為常見的要求:車斗最大傾角,機(jī)構(gòu)縱深,液壓缸伸縮距離,結(jié)構(gòu)合理等,我們?cè)O(shè)計(jì)了創(chuàng)新機(jī)構(gòu)的尺寸.在用inventor對(duì)其進(jìn)行運(yùn)動(dòng)仿真后,發(fā)現(xiàn)結(jié)構(gòu)運(yùn)動(dòng)平穩(wěn).然后我們又用matlab對(duì)機(jī)構(gòu)進(jìn)行建模,仿真.得出機(jī)構(gòu)的角速度,角加速度等圖形.發(fā)現(xiàn)機(jī)構(gòu)角速度變化幅度不大,符合仿真動(dòng)畫,滿足實(shí)際要求,因此,我們確定了我們的創(chuàng)新設(shè)計(jì)符合要求并將其作為最終的課程設(shè)計(jì)的方案.AbstractOurgroupchoosesdumptruckdumpingmechanisminnovationdesignascurriculumdesignquestions.Inordertocompletethecoursedesign,wefirstlookforthedumptruckdumpingmechanismaboutthehistoryofthedumptruck,understandthedevelopmentcourseandpresentsituation.Thenwefindaboutdumpingdomesticandforeignpatents,andanalyzesthemechanism,drawthemechanismdiagram.Knowthedumptruck,thereareallkindsofdifferentorganizations,andtounderstandthepresentcommonlyusedself-discharginginstitutionsandself-dischargingmechanismthefuturetrendofdevelopment.Inordertocreativedesign,oursitetothecommondumper'sself-dischargingmechanismphotos.Bodyanalysisandthekinematicchainofgeneralization,severalcomprehensive,specializationandshapeandaseriesofprocessthat.Atlast,wegive27possiblemechanismdiagrams.Incomparison,wechoseanotcurrentpopulartypeofmechanismdiagramastheirinnovativedesign.Accordingtotherequirementsofthemorecommontodumptruck,carbucketmaximumAngleofinclination,theagencydepth,hydrauliccylinderexpansiondistance,reasonablestructureandsoon,wedesigntheinnovationorganizationinthesizeoftheinventor.Themotionsimulation,foundthatthesmoothmovementstructure.ThenweuseMATLABtomechanismmodeling,simulation.Drawmechanismofangularvelocity,angularaccelerationandangularvelocitychangegraphics.Findinstitutionsrangeisnottoomuch,inlinewiththesimulationanimation,meetthepracticalrequirements,therefore,wedetermineourinnovativedesignmeettherequirementsastheirfinalcoursedesignscheme.目錄一、 題目簡介 11. 題目描述 12. 原始數(shù)據(jù)和設(shè)計(jì)規(guī)格 2二、 現(xiàn)有機(jī)構(gòu)分析 21. 文獻(xiàn)綜述 22. LiteratureReview 43. 現(xiàn)有機(jī)構(gòu)分析 6三、 機(jī)構(gòu)創(chuàng)新（CreativeMechanismDesignMethodology） 171. BriefDiagramofthePrototype: 172. Generalization: 173. Numbersynthesis 174. Specialization 175. Particularization: 24四、 尺寸設(shè)計(jì) 261. 尺寸設(shè)計(jì) 262. 設(shè)計(jì)圖 27五、 機(jī)構(gòu)分析與仿真 281. Inventor仿真圖像 282. Matlab仿真過程 28六、 總結(jié) 33七、 Reference 34八、 附錄 351. MATLAB程序代碼： 35題目簡介題目描述自卸車是一種經(jīng)過車自身的傾卸機(jī)構(gòu),能夠?qū)④嚩分胸浳飪A卸出去的一種車。自卸車傾卸機(jī)構(gòu)的創(chuàng)新設(shè)計(jì)就是對(duì)現(xiàn)有的自卸機(jī)構(gòu)進(jìn)行創(chuàng)新再設(shè)計(jì),使其滿足自卸的使用要求。平穩(wěn)傾卸貨物。如下圖中,液壓缸作為動(dòng)力原件,液壓缸的伸縮,經(jīng)過六桿機(jī)構(gòu)的轉(zhuǎn)換,使車斗傾斜,達(dá)到傾卸貨物的目的。自卸車圖片PicturesofaDumpTruck圖1自卸車機(jī)構(gòu)簡圖BriefDiagramoftheDumpTruck圖2DOF=3n-2Pl-Ph=3x5-2x7=1原始數(shù)據(jù)和設(shè)計(jì)規(guī)格選小車型設(shè)計(jì),車斗長5米左右.為使貨物傾卸完全,車斗最大傾角應(yīng)在45~70度,能夠選擇60度.單級(jí)液壓缸,最大伸縮長度在0.5~0.8m.機(jī)構(gòu)縱深約為0.5m.現(xiàn)有機(jī)構(gòu)分析文獻(xiàn)綜述最早的自卸車是以馬拉的形式的二輪裝卸車,貨物重心在二輪車的輪軸上,當(dāng)裝載貨物時(shí),只需要放到軸上就能夠了,貨物前方用繩子勾住固定;卸載時(shí)傾卸車即可。這種二輪車曾用在開放礦場,用馬匹拉著在鐵軌上行走。1900之后,一種四輪的馬拉式平板自卸車誕生,它帶有一個(gè)矩形貨物箱,經(jīng)過車前的繩子來實(shí)現(xiàn)傾卸。早期的馬拉式自卸車最早出現(xiàn)的自卸車車身是根據(jù)裝卸重心位置的原則設(shè)計(jì)的,這種車最早出現(xiàn)在19,那時(shí)曼式重力傾卸機(jī)構(gòu)在英國出現(xiàn)。液壓傾斜機(jī)構(gòu)自卸車液壓力學(xué)運(yùn)用在較早的馬拉式自卸車上,根據(jù)記載表明,一種最早的液壓傾斜機(jī)構(gòu)運(yùn)用在羅伯遜汽車上,它帶有一個(gè)液壓起重機(jī),能夠從汽車的發(fā)動(dòng)機(jī)或者一個(gè)獨(dú)立的蒸汽機(jī)里獲得動(dòng)力。Alley&McLellanofGlasgow在19創(chuàng)造了早期的依靠蒸汽驅(qū)動(dòng)的液壓傾斜機(jī)構(gòu)。履帶式拖車在19世紀(jì)20年代中期,履帶式拖車牽引輪式自卸車迅速流行。有時(shí)拖車能夠拉兩到五個(gè)附加拖車,很多公司開始發(fā)展可附加式拖車。最早的拖車是運(yùn)行在軌道上的,可是當(dāng)速度越來越受到限制時(shí),開始使用輪胎來提高速度。這種軌道式拖車的創(chuàng)造者有Euclid,JamesHagy,LaPlant-Choate,Rex-Watson,andStreich和Western。Euclid自卸車Euclid是自卸車發(fā)展的先驅(qū)者。GeorgeArmington的兒子GeorgeArmingtonJr.設(shè)計(jì)和制作了兩種對(duì)世界自卸車有重大意義的創(chuàng)造,包括現(xiàn)代重型越野卡車和輪式拖車置底傾斜車。1934年,這個(gè)公司創(chuàng)造了10/11噸級(jí)自卸車,名為"TrakTruk."。它是第一個(gè)用來重型越野服務(wù)的后卸式自卸車,后來又創(chuàng)造了15噸級(jí)的自卸車,得到很大的改進(jìn)。19世紀(jì)50年代的自卸車到了19世紀(jì)40年代,自卸車的科技發(fā)展達(dá)到了一個(gè)新的高度,截至19世紀(jì)50年代,美國已經(jīng)創(chuàng)造了置底式自卸車,1951年,Euclid公司制作出世界上最大的自卸車1LLD。1954年Komatsu公司制作出時(shí)速為42千米凈載重為13.60噸的輪式自卸車。1958年,自卸車市場上最大馬力的單獨(dú)發(fā)動(dòng)機(jī)為AP40,可達(dá)600馬力。RalphH.Kress和HaulpakRalphH.Kress以她創(chuàng)造的前置式自卸車,重型越野自卸車在礦場的運(yùn)用而聞名于整個(gè)自卸車的世界。1955年,作為WABCO(現(xiàn)在是Komatsu)的創(chuàng)始者,她致力于可縮短軸距擁有深、斜、平特點(diǎn)的車身的設(shè)計(jì),它就是Haulpak,被視為量子發(fā)展設(shè)計(jì)。最早的Haulpak于1957年在市場上出現(xiàn),它能夠有32噸級(jí)的凈載量,后來發(fā)展為75噸級(jí)。這些最早的自卸車噸級(jí)范圍為25到32噸級(jí),由于太小而廣泛應(yīng)用于礦場。Haulpak最終由于在尺寸上的發(fā)展,成為表面礦場工業(yè)的選擇。專利綜述當(dāng)前,自卸車從單純的5噸自卸車逐漸向更高噸位的方向發(fā)展,舉升機(jī)構(gòu)也從簡單的單級(jí)缸中置直頂式、多級(jí)缸中置直頂式向單級(jí)缸連桿組合式、多級(jí)缸前置直頂式的方向發(fā)展。液壓傾斜機(jī)構(gòu)是自卸車的核心,是判別自卸車優(yōu)劣的首要指標(biāo)。不同的舉升機(jī)構(gòu),有不同的車型定位和市場定位。從美國專利局所查找的專利中我們能夠看到大部分自卸車為單杠連桿組合式,例如US2849255,US3172703,US3620458orso.US4036528。US6382731運(yùn)用多級(jí)缸中置直頂式。下面是各個(gè)形式舉升機(jī)構(gòu)的優(yōu)缺點(diǎn)。單級(jí)缸中置直頂式舉升機(jī)構(gòu)——是最早出現(xiàn)的舉升機(jī)構(gòu),機(jī)構(gòu)簡單,緊湊,受力直觀,而且成本低廉,在載重量為5噸或者5噸以下的自卸車中普遍采用。US4036528運(yùn)用此機(jī)構(gòu)。多級(jí)缸中置直頂式舉升機(jī)構(gòu)——為了改進(jìn)單級(jí)缸直頂式舉升機(jī)構(gòu)的弱點(diǎn),多級(jí)缸中置直頂式舉升機(jī)構(gòu)應(yīng)運(yùn)而生。它極大改進(jìn)了油缸和副車架的使用環(huán)境,使油缸和副車架的手里很小,使整個(gè)液壓系統(tǒng)的使用壽命大大延長。而且,由于多級(jí)缸是套筒式的結(jié)構(gòu),內(nèi)瀉量小。缺點(diǎn)是在布置上比較困難,液壓系統(tǒng)過于復(fù)雜。在國內(nèi)一般不被使用。專利US4056283。單級(jí)缸連桿組合式舉升機(jī)構(gòu)——有升平穩(wěn),超載能力強(qiáng),系統(tǒng)液壓性能好等特點(diǎn),因而被各大汽車改裝廠采用,經(jīng)過對(duì)四桿機(jī)構(gòu)的優(yōu)化設(shè)計(jì),能夠設(shè)計(jì)出多種連桿組合式機(jī)構(gòu)。馬進(jìn)里式和油缸浮動(dòng)式采用較多,其它由于具有缸徑大,油缸行程短等因素采用過的較少。專利US4168861。多級(jí)缸前置直頂式舉升機(jī)構(gòu)——主要由一支多節(jié)缸組成,行程大5~6米,能夠把重心將到最低,極大的改進(jìn)了車輛的穩(wěn)定性。由于該機(jī)構(gòu)受力最簡單,最省力,因此,采用多級(jí)缸前置直頂式舉升機(jī)構(gòu)的自卸車是今后重型自卸車的發(fā)展方向。可是有兩點(diǎn)缺點(diǎn),一是成本最昂貴,二是它的油缸行程過,三是控制系統(tǒng)過于靈敏。當(dāng)前國內(nèi)生產(chǎn)這種機(jī)構(gòu)的不多。專利US5033794,US6382731。國內(nèi)自卸車發(fā)展前景當(dāng)前國內(nèi)自卸車發(fā)展主要受到兩個(gè)問題的影響:大重力重心和重型載重。國內(nèi)大部分自卸車運(yùn)用了單級(jí)缸連桿組合式舉升機(jī)構(gòu),在發(fā)展趨勢為多級(jí)缸前置直頂式舉升機(jī)構(gòu)的前提下,盡管國內(nèi)運(yùn)用很少,可是我們相信,在不久的將來,它一定會(huì)迅速發(fā)展起來。

LiteratureReviewTheveryfirstversionofadumptruckusedtohaulanddumpmaterialwasnothingmorethanasimpledumpbodystylecartdrawnbyhorses.Itwouldhaveconsistedofatwo-wheeledcarthinged圖3totheaxlewiththecenterofgravity,whenloaded,justbehindtheaxle.Theloadedfrontbodywashooked,andwhenunlatched,woulddump.Thesecartswereusedinopenminesandpulledbyhorsesalongarailwaytrack.After1900,afour-wheeledhorse-drawnflatbedwagonwitharectangularbodyliftedwithahandhoistinthefrontwasemployed.EarlyTruckMountedDumpBodiesTheearliestversionsoftruckmounteddumpbodiesreliedontheprincipleofgravityfordumping.Someofthefirsttruckswithdumpbodiesdesignedonthisprincipleappearedasearlyas1904whentheManngravitydumpwasbuiltinEngland.HydraulicDumpBodiesHydraulicswasbeingincorporatedintotruckmounteddumpbodiesrelativelyearlyon.RecordsshowthatoneofthefirsthydraulicdumpbodieswastheRobertsonSteamWagonwithahydraulichoistthatreceivedpowerfromthetruck’sengineoranindependentsteamengine.Alley&McLellanofGlasgowdevelopedanotherearlyhydraulicdumpbodyin1907thatwaspower-drivenbysteam.CrawlerTractor-trailersInthemiddleofthe1920s,crawlertractorspullingheavydumptrailersmountedonwheelsortrackswerebecomingincreasinglypopular.Sometimescrawlerswouldpulltwotofiveattachedtrailers.Companiesbegandevelopingwagonsspecificallydesignedforattachmenttocrawlertractors.Thefirstversionsweremountedontracks;however,whenspeedrestrictionsposedaproblem,thewagonsweremountedonwheelstoimprovespeed.ManufacturersofsuchtrailersandhaulersincludedEuclid,JamesHagy,LaPlant-Choate,Rex-Watson,andStreichandWestern.EuclidDumpTrucksEuclidwasapioneerinthedevelopmentofdumptrucks.GeorgeArmingtonJr.,sonoffounderGeorgeArmington,wasahydraulicsdesignerandmadetwosignificantcontributionstotheworldofdumptrucks.Theseincludedthemodernheavydutyoff-highwaytruckandthewheeltractorbottomdumpwagon.In1934thecompanyintroducedits10/11-tondumptruckcalledthe"TrakTruk."Itwasthefirstrear-dumptruckthatwasdesignedforheavy-dutyoffroadservice.Thiswasfollowedupin1936withthecompany’s15-tonModelIFDtruckthatfeaturedadieselengine,moderndriveline,planetaryfinaldrives,leaf-springsuspension,andpneumatictires.Thetruckreplacedheavy,gasolinepoweredchaindriveMacktrucksthathadpreviouslybeenusedforstandardworkinconstructionandminingoperations.DumpTrucksinthe1950sBythe1940sthetechnologicaldevelopmentofdumptruckshadreacheditspeak.IntheU.S.,bottomdumptruckswerealreadydominatingearthmovingsitesbythe1950s.Thedecadecontinuedtomarkaproliferationinthemanufacturingofdumptrucks.In1951,forexample,Euclidproducedtheworld’slargestdumptruckwhenitmanufacturedthe1LLD.In1954Komatsubuiltthefirstdumptruckonwheelsthattraveledat26miles(42km)perhourandhada13.60-tonpayload.In1958,the600horsepowerAP40Autocarwasthelargestsingleenginedumptruckonthemarket.RalphH.KressandtheHaulpakRalphKressisperhapsbestknowninthedumptruckworldforpioneeringandbringingdumptrucktechnologytotheforefront,inparticular,heavy-duty,off-roaddumptrucksusedinmining.In1955,asaconsultantforWABCO(nowKomatsu),hewasinstrumentalinconfiguringadumptruckthatincorporatedashortwheelbaseandhadahighangleofturnwithadeep,sloped,flatbodyknownasaHaulpakandwasviewedasthe”quantumadvanceindesign”withitshydro-pneumatic”Hydrair”struts.ThefirstversionsoftheHaulpakweremadeavailabletothemarketin1957featuring25-to32-tonpayloadcapacitiesandwereeventuallymarketedandusedastractorstopullsupplementary75-tontrailers.Theseearlierversions,rangingfrom25-to32-tonrangecapacity,weretoosmallinitiallytobeusedinopenpitminesbutgainedacceptancefromcontractors.EventuallyHaulpakgrewinsizeandbecamethedumptruckofchoiceinthesurfaceminingindustry.TheHaulpakwouldexistasthestandardtowhichotheroff-highwaydumptruckswouldcometobedesigned.

現(xiàn)有機(jī)構(gòu)分析(1)專利綜述PatentReviewThedumptruck,asonethelargestspecialvehicles,isdevelopingfromthe5tdumptrucktomoretons.Thecoreofadumptruckistheliftingmechanism,whichdevelopsfromthesinglecylindercentrally-mountedstraighttoptypeandthemultistagecylindercentrally-mountedstraighttoptypetothesinglecylinderconnectingrodcombinedtypeandthemultistagecylinderleadstraighttoptype.FromthepatentsamongthesearchingresultsfromtheUSpatentandtrademarkoffice,wecanseethatmostofthetrucksaredesignedwiththesinglecylinderconnectingrodcombinedtypesuchasUS2849255,US3172703,US3620458orso.US4036528usesthesinglecylindercentrally-mountedstraighttoptype.US6382731usesthemultistagecylinderleadstraighttoptype.Herearesomeadvantagesanddisadvantagesofthefourtypeofthedumpingmechanism:Thesinglecylindercentrally-mountedstraighttoptype——itisthepioneeroftheliftingmechanismofthedumptruck.Itsstructureisverysimpleandtightanditscostislow,butitsloadisverysmallsothatitisusedasthetrucksbelow5t.Itiswidelyusedaslight-weighttrucks,forexampleDongfeng3092Fusesthisliftingmechanism.SeePatent:US4036528.圖4Themultistagecylindercentrally-mountedstraighttoptype——itimprovesthedisadvantagesofthesinglecylindercentrally-mountedstraighttoptype.Itimprovestheconditionofthecylinderandtheframetoextendtheirlifetimeandreducestheinsidedischargeofthecylinder.Buttheframeworkdesignisdifficult.Itmakesthehydraulicsystemcomplexandcostsalot,soitisnotcommonlyused.SeePatent:US4056283.圖5Thesinglecylinderconnectingrodcombinedtype——ithasthestableliftingability,strongoverloadingabilityandgoodhydrauliccharacteristics.Itcanbechangedintodifferentstylethroughchangingthefour-barlinkage.MallorytypeisoneofthetypesandwidelyusedinChinabecauseofthecharacteristicsofsmallcylinderdiametersandlongcylinderroutes.Butsometypesisnotwidelyusedbecauseofbigcylinderdiametersandshortcylinderroutes.SeePatent:US4168861.圖6Themultistagecylinderleadstraighttoptype——ismadeupofonemultistagecylinderwhoseroutecanbe5to6meters.Itisthesimplestliftingmechanismandlargelyimprovesthestabilityofthetruck.Itisthedevelopmentdirectionofthedumptruck.Butitscostisthemostexpensive,whichrestrictsitsdevelopmentinChina.SeePatent:US5033794,US6382731.圖7ThefutureofDumpTrucksinChinaMostofthedumptrucksinChinausethesinglecylinderconnectingrodcombinedtype,fromthesinglecylindercentrally-mountedstraighttoptypeandthemultistagecylindercentrally-mountedstraighttoptype.Thetrendofdevelopmentisthemultistagecylinderleadstraighttoptypeandthetypewillbedeveloped,butwecan’tseealotinChina.Webelieveinthedistantfutureitcanquicklybedevelopedandusedinourcountry. Thefrontmulti-levelcylinderliftingmechanismistheleadingdirectionofdumptruckmanufacturing.Fornow,thedumptrucksinourcountryarebotheredbytwomainproblems:highgravitycenterandheavydeadweight.Toovercomethesetwoobstacles,theyoungergenerationandthetechnicalengineersneedtoworkhardtoimprovethecompetingabilityofourproduction.Allinall,thekeypointistoimprovethequalityofourproducts.

(2)專利列表PatentListPatentNo.AppTimePatentNameInventorDrawingFiguresBriefDiagramTheTypesUS20945211935.10.11LIFTINGMECHANISMFORDUMPBODIESF.BISZANTZetalInventionPatent;Eight-barLinkageUS24492021946.11.8HYDRAULICACTUATINGMECHANISMFORDUMPTRUCKSClaims.(CletalInventionPatent;Four-barLinkageUS25937761950.3.21DUMPBODYTILTINGMECHANISMCharlesE.MargalaetalInventionPatent;Six-barLinkageUS28492551955.8.16HOISTMECHANISMFORDUMPTRUCKSGeraldJ.PaskeretalInventionPatent;Six-barLinkageUS31727031963.6.14DUMPMECHANISMFORTRUCKSJoanA.ByerInventionPatent;Six-barLinkageUS35128361968.10.9LATERALSTABILIZINGMEANSFORASEMI-TRAILERDUMPBODYAnthonyPolicfaetalInventionPatent;Eight-barLinkageUS36204581970.4.21ALBERTRATHXYSteelProductsLtd.PrestonetalUtilityModelPatent;Six-barLinkageUS40365281975.10.14TruckwithtiltablebodyHeinrichLangendorfInventionPatent;Four-barLinkageUS40493161976.1.29LiftingmechanismsfortruckbodiesMarinoPanedaOrdonezInventionPatent;Six-barLinkageUS40521051976.4.9TruckhoistWalterMoeInventionPatent;Six-barLinkageUS40662961976.12.28TruckbedtiltingmechanismLouisM.Ray,Jr.etalInventionPatent;Six-barLinkageUS40562831977.1.25TruckconstructionRobertMarvinPowUtilityModelPatent;Six-barLinkageUS41688611978.2.6Dump-hoistconversionsystemOllieJ.CarrollUtilityModelPatent;Six-barLinkageUS43020501979.10.17TruckhoistEldonD.JonesUtilityModelPatent;Six-barLinkageUS43826321982.6.10DumpingvehiclestabilizersystemCharlieC.PittsUtilityModelPatent;Six-barLinkageUS45317801982.9.3LiftmechanismforadumptruckBruceM.BoczkiewiczUtilityModelPatent;Six-barLinkageUS45925931984.5.4ScissorframeliftapparatusfordumptrucksGlennL.ChannellInventionPatent;Six-barLinkageUS50488961988.4.20MinimumprofilehoistGlennL.ChannellUtilityModelPatent;Six-barLinkageUS50337941990.10.18SecuringdevicefordumptruckHenryL.VickUtilityModelPatent;Four-barLinkageUS52036681991.6.6Apparatusforloadingandunloadingofacontainerstructureorotherloads...LazarMarmurUtilityModelPatent;Six-barLinkageUS51953851991.10.28Freerangingbi-directionalhydraulicdumpingmechanismJeromeA.JohnsonUtilityModelPatent;Six-barLinkageUSRE347331992.8.5ScissorframeliftapparatusfordumptrucksGlennL.ChannellUtilityModelPatent;Six-barLinkageUS55139011994.3.14HoistmechanismFredP.SmithetaInventionPatent;Eight-barLinkageUS59677331997.12.12HydraulictilttrailerRussellCashUtilityModelPatent;Six-barLinkageUS61565961999.3.11TruckhoistEldonD.JonesUtilityModelPatent;Six-barLinkageUS6382731.6.26LoadhaulingvehiclewithsidewallraisingandloweringmechanismMichaelSlutzetalUtilityModelPatent;Six-barLinkageUS6663185.11.13TippingtrailersRhysWilliamRichardsUtilityModelPatent;Six-barLinkageUS7770980.5.1DumpvehicleJamesP.Godwin,Sr.etalUtilityModelPatent;Four-barLinkageUS7523994.6.20HoistEldonD.JonesUtilityModelPatent;Six-barLinkageUS7695237.8.8RefusecollectionvehicleandliftingapparatusthereforKostiShirvanianUtilityModelPatent;Six-barLinkageUS8157316.1.29TranslatingcargobedHarlanJ.BartelInventionPatent;Fourteen-barLinkage

機(jī)構(gòu)創(chuàng)新(CreativeMechanismDesignMethodology)BriefDiagramofthePrototype:Generalization:Theprototypeisasix-barlinkage,thekinematicchaincanberegeneratedinto”Stephenson’slinkage”:NumbersynthesisThereareonlytwoeffectiveonescalledWatt’slinkageandStephenson’slinkageStephenson’slinkageWatt’slinkageSpecializationRequirementsandconstrains:(1)Onelinkhastobethebody(groundlink).(2)TheboxhastobeasidelinkandthelinkagehastobeaRevoluteJoint.(3)Onelinkhastobethedrivinglink;consideringthedemandofhugepower,thedrivinglinkmustbehydraulic.(4)AlllinkageshavetobeRevoluteJointsexceptthedrivinglink(thehydrauliccylinder).(4)Box,drivinglinkandthegroundcouldnotbeinthesamekinematicchaincircuittoavoidfour-barlinkagewhichmayaffectliftingqualityandstability.A:Followingarethe9possiblesolutionsaccordingto1and2:車身車身車斗車斗車斗車斗車身車身車身車身車斗車斗車身車身車斗車斗車斗車斗車身車身車身車身車斗車斗a)b)c)d)e)f)車身車身車斗車斗車斗車身Box車身車身車斗車斗車斗車身Boxg)h)i)B:Drivinglink(Prismaticpair)Followingarethe9possiblesolutionsaccordingto3,4and5:底盤車斗車斗底盤底盤車斗車斗底盤A1A2車斗底盤車斗底盤車斗底盤車斗底盤A3B1底盤底盤車斗車斗底盤底盤車斗車斗B2B3底盤車斗車斗底盤底盤車斗車斗底盤B4C1底盤車斗車斗底盤底盤車斗車斗底盤C2C3底盤車斗底盤車斗底盤車斗底盤車斗D1D2車斗底盤車斗底盤車斗底盤車斗底盤D3D4底盤底盤車斗車斗底盤底盤車斗車斗E1E2車斗車斗底盤底盤車斗車斗底盤底盤E3E4底盤車斗底盤車斗底盤車斗底盤車斗F1F2車斗車斗底盤底盤車斗車斗底盤底盤F3H1車斗車斗底盤底盤車斗車斗底盤底盤H2H3車斗車斗底盤底盤車斗車斗底盤底盤I1I2車斗底盤車斗底盤I3Particularization:FollowingaretheparticularizationofA1,D1andF2圖8A1圖9D1圖10F2

尺寸設(shè)計(jì)尺寸設(shè)計(jì)以機(jī)構(gòu)簡圖F2作為創(chuàng)新設(shè)計(jì)的機(jī)構(gòu)。FBA3C2D14EFBA3C2D14E圖11選取F2作為創(chuàng)新設(shè)計(jì)的機(jī)構(gòu)的優(yōu)勢:(1)能夠經(jīng)過較小的液壓缸行程獲得較大的車斗角度變化(2)機(jī)構(gòu)縱深較小,便于整車重心下降,提高產(chǎn)品競爭力(3)主動(dòng)件等效力臂較長,在相同液壓缸驅(qū)動(dòng)力下力矩較大,機(jī)構(gòu)負(fù)載能力強(qiáng)(4)經(jīng)過估算發(fā)現(xiàn),車斗舉升角速度平穩(wěn),卸貨穩(wěn)定設(shè)計(jì)圖θ3B(B’)F(F’)HD’E’θ2D液壓桿L2CC’EL3A(A’)初始位置L4θB(B’)F(F’)HD’E’θD液壓桿L2CC’EL3A(A’)初始位置L4L1最終位置圖12參數(shù)選擇:(1)車斗初始位置水平,為了使重物傾斜完,傾角需要45°至70°,在創(chuàng)新機(jī)構(gòu)中選擇最大傾角為60°(2)根據(jù)實(shí)際車的尺寸大小,按車斗長4.8m,選擇中間作為機(jī)構(gòu)力的作用點(diǎn),因此選取車斗的一半L1=2.4m(3)自卸車要求建造縱深盡可能小,因此使B點(diǎn)與A點(diǎn)在同一水平位置,F點(diǎn)與AB所在水平位置高度差,即BH盡可能小。按一般自卸車常見尺寸選擇建造縱深為0.4m。由圖可知連桿L2大致為0.5m,在沒有精確要求的情況下,可選擇L2=0.5m(4)由L4>L1sin60°-L2=1.578m.為了使車斗在提升過程中受力較大,需要連桿L2與車斗形成較大的銳角。因此選擇連架桿L4=1.8m。此時(shí)可取BE=0.8m,L3=0.8m(4)采取一級(jí)液壓伸縮機(jī)構(gòu),因此有EF=2E’F,由EE’=1.06m,取E’E垂直于E’F,則計(jì)算得E’E=0.61m,EF=1.22m。同時(shí)能夠計(jì)算得到BH=0.48m,FH=0.22m(5)由公式:L1cos60°+L2cosθ2=L4+L3cosL1=L2sinθ2+L3sin(6)解得:θ2=56.41°,θ3=67.92°。

機(jī)構(gòu)分析與仿真Inventor仿真圖像圖13液壓桿速度為3cm/s,圖示為車斗前端一點(diǎn)的位置,速度及加速度圖像。圖中顯示速度和加速度基本不變,因此能夠看出車斗運(yùn)行平穩(wěn),故該創(chuàng)新機(jī)構(gòu)符合實(shí)際要求。Matlab仿真過程由液壓桿和L4桿所在四桿機(jī)構(gòu)分析出L4水平角(逆時(shí)針旋轉(zhuǎn))與液壓桿長ganlength關(guān)系F1:F1(液壓桿長ganlength)=L4水平角度再由L4桿和車斗L1桿所在四桿機(jī)構(gòu)分析出兩者水平角關(guān)系F2:F2(L4水平角)=L1水平角F1和F2關(guān)聯(lián)得到液壓桿長ganlength和L1水平角的關(guān)系F3:F3(液壓桿長ganlength)=L1水平角根據(jù)F3,以及壓桿長ganlength=液壓桿伸縮速度v*時(shí)間t,得到L1水平角-時(shí)間t關(guān)系F4,并做出擬合曲線(單次升程使用plotfit函數(shù)線性擬合,全程使用cftool擬合工具中的8級(jí)傅立葉擬合):F4(時(shí)間t)=L1水平角即角度-時(shí)間函數(shù),作圖一次求導(dǎo)(diff函數(shù))即可得到角速度-時(shí)間函數(shù),作圖,由速度=角速度*臂長可得車斗中心鉸接處線速度-時(shí)間圖二次求導(dǎo)(diff函數(shù))即可得到角加速度-時(shí)間函數(shù),作圖仿真圖像:圖14圖15圖16圖17圖18圖19圖20圖21總結(jié)課程設(shè)計(jì)已經(jīng)做完了,付出了很多,當(dāng)然最后看到自己的團(tuán)隊(duì)竟然做出了四十幾頁的文檔,真的不容易,覺得還是很有成就感的。經(jīng)過這次課程設(shè)計(jì),我們學(xué)到了很多東西。對(duì)自卸車有了更多的了解。經(jīng)過查專利,我們學(xué)會(huì)了更快速的查找資料。經(jīng)過對(duì)現(xiàn)有機(jī)構(gòu)的分析及運(yùn)動(dòng)鏈再生,我們加深了對(duì)課本知識(shí)的理解與運(yùn)用。尺寸設(shè)計(jì)及運(yùn)動(dòng)仿真的過程,提高了我們的自學(xué)能力,使我們學(xué)會(huì)了使用inventor及matlab軟件對(duì)機(jī)構(gòu)進(jìn)行分析。鍛煉了我們的編程能力。這對(duì)我們以后解決實(shí)際問題很有幫助。做課程設(shè)計(jì)的過程中,我們也遇到了很多問題,有時(shí)還會(huì)感覺無從下手?？墒俏覀冏罱K都找到了解決的方法,克服了困難。課程設(shè)計(jì)也鍛煉了我們的耐心,畫圖與排版是個(gè)細(xì)活,必須耐心認(rèn)真的去做。課程設(shè)計(jì)讓我們也學(xué)會(huì)了團(tuán)隊(duì)間的分工與合作。只有配合好,才能做出好成果。最后感謝老師的指導(dǎo),同學(xué)之間的幫助。小組分工情況:鐘志成:查找專利,運(yùn)動(dòng)鏈再生,畫機(jī)構(gòu)簡圖,討論尺寸設(shè)計(jì),inventor零件制作及動(dòng)畫仿真,整理文檔,課程設(shè)計(jì)說明書高雙:現(xiàn)場拍照,查找專利,文獻(xiàn)綜述,畫機(jī)構(gòu)簡圖,討論尺寸設(shè)計(jì),matlab編程仿真,整理文檔,課程設(shè)計(jì)說明書索霄峰:查找專利,專利綜述,畫機(jī)構(gòu)簡圖,討論尺寸設(shè)計(jì),inventor零件制作及動(dòng)畫仿真,整理文檔,課程設(shè)計(jì)說明書Reference[1]《機(jī)械JIXIE》,P72-73,《國產(chǎn)自卸汽車的液壓傾卸機(jī)構(gòu)分析》;劉波,東風(fēng)商用車公司重型車廠技術(shù)科;.20[2]《專用汽車》,P34-36,《改革開放三十年自卸車飛高走遠(yuǎn)》;曲憲成,原青島專用汽車制造廠廠長;.01[3]《重型汽車》,P34-38,《談重型自卸車及其液壓傾卸機(jī)構(gòu)的實(shí)例》;劉波;.02[4].com[5][6].com.hk[7]

附錄MATLAB程序代碼:(1)函數(shù)文件——Functions1.mfunctionf=functions1(p)globalsita;x=p(1);y=p(2);f(1)=2.4*cos(x)+0.5*cos(3.14-y)-0.8-1.8*cos(sita);f(2)=2.4*sin(x)-0.5*sin(3.14-y)-1.8*sin(sita);(2)單次升程——singlerise.mclear;clc;symsinitmovefinalinit=0.61;%初始液壓桿長move=0.03;%液壓桿伸縮速度3cm/sfinal=1.22;%終態(tài)液壓桿長globalsita;array1=[];%車斗角度數(shù)組array2=[];ganarray=[];%計(jì)算升程液壓桿長i=1.0;forgan=init:move:finalganarray(i)=gan;i=i+1;end%計(jì)算每一時(shí)刻角度——array1i=1.0;fortime=1:1:length(ganarray)gan=ganarray(time);yuxian=(0.528^2+0.8^2-gan^2)/(2*0.528*0.8);sita=24.62/180*pi+acos(yuxian)-pi/2;x=fsolve('functions1',[0.5,1.0]',optimset('Display','off'));x1=x(1);array1(i)=x1/pi*180;x2=x(2);array2(i)=x2/pi*180;i=i+1;endganlength=1:1:length(ganarray);nihe=polyfit(ganlength,array1,6);%對(duì)函數(shù)進(jìn)行線性擬合,x=time,y=車斗角度fai=[];i=1.0;fortime=1:1:length(ganarray)gan=time;fai(i)=nihe(1)*gan^6+nihe(2)*gan^5+nihe(3)*gan^4+nihe(4)*gan^3+nihe(5)*gan^2+nihe(6)*gan+nihe(7);ifabs(fai(i)-array1(i))>5.0e-2%判斷擬合精度disp('擬合失敗!');endi=i+1;end%一階導(dǎo)數(shù)為角速度symsdegreeganx;degree=nihe(1)*ganx^6+nihe(2)*ganx^5+nihe(3)*ganx^4+nihe(4)*ganx^3+nihe(5)*ganx^2+nihe(6)*ganx+nihe(7);degree1=diff(degree,ganx);faiw=[];i=1.0;fortime=1:1:length(ganarray)gan=time;faiw(i)=subs(degree1,ganx,gan)/180*pi;i=i+1;end%二階導(dǎo)數(shù)為角加速度degree2=diff(degree1,ganx);faiacc=[];i=1.0;fortime=1:1:length(ganarray)gan=time;faiacc(i)=subs(degree2,ganx,gan)/180*pi;i=i+1;end%角速度*L1=速度faiv=[];i=1.0;fortime=1:1:length(ganarray)gan=time;faiv(i)=faiw(i)*2.4;i=i+1;end%作圖figure;plot(ganlength,fai);title('fai');figure;plot(ganlength,faiw);title('faiw');figure;plot(ganlength,faiacc);title('faiacc');figure;plot(ganlength,faiv);title('faiv');(3)全程——Fourier.mclear;clc;symsinitmovefinalinit=0.61;%初始液壓桿長move=0.03;%液壓桿伸縮速度3cm/sfinal=1.22;%終態(tài)液壓桿長pausetime=0;%停留時(shí)間globalsita;array1=[];%車斗角度數(shù)組array2=[];ganarray=[];%計(jì)算三程液壓桿長i=1.0;forgan=init:move:finalganarray(i)=gan;i=i+1;endforpause=1:1:pausetimeganarray(i)=gan;i=i+1;endforgan=final:-move:initganarray(i)=gan;i=i+1;end%計(jì)算每一時(shí)刻角度——array1i=1.0;fortime=1:1:length(ganarray)gan=ganarray(time);yuxian=(0.528^2+0.8^2-gan^2)/(2*0.528*0.8);sita=24.62/180*pi+acos(yuxian)-pi/2;x=fsolve('functions1',[0.5,1.0]',optimset('Display','off'));x1=x(1);array1(i)=x1/pi*180;x2=x(2);array2(i)=x2/pi*180;i=i+1;end%對(duì)函數(shù)進(jìn)行傅立葉非線性擬合——利用cftool工具得到如下參數(shù),goodness=0.9994a0=25.03;a1=-24.74;b1=0.4654;a2=2.53;b2=-0.097;a3=-3.119;b3=0.1704;a4=0.7688;b4=-0.06069;a5=