可调双输出函数发生机构及其自调结构设计研究
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摘要
创新设计是提高产品自主开发能力的根本途径。在机械产品的设计过程中,机械系统运动方案设计的核心就是传动及执行系统的创新。因此,机构创新设计是机构学研究永恒的主题。科学技术的发展,对机械产品的结构,运动学及动力学性能提出了更高、更新的要求,促使人们对机械产品的核心组成——机构,进行更加深入、系统的研究,进一步认识与发掘其潜能,进行创造性的设计与应用。平面连杆机构是应用最为广泛的一类机构,是既简单而又是最复杂的一类机构,对其分析、设计的理论与方法研究也最多。一般均认为平面连杆机构是很传统、研究很深入、应用很成熟的一类机构,实际上,由于科学技术及生产的发展,促使人们去更深刻的认识与发挥其优点,克服其不足,以满足对机械产品的更高要求。所以,对连杆机构的进一步认识、研究与应用,还大有可为,仍是机构学的一个重要研究方向。
机械式脉动无级变速器,由于其一系列的独特优点,从上世纪60年代出现以来,一直受到人们的关注,是一种极有前途和潜力的无级变速器。其核心就是对连杆机构的结构及运动学特性的创造性应用。其最关键组成部分——脉冲发生机构即为连杆机构,它既充分应用了连杆机构的优点,同时随着对无级变速器的性能要求的提高,又暴露出了已有的脉冲发生机构的一些不足。而脉冲发生机构的主要的设计要求为:1)传动效率高;2)输出转速无级可调,且有良好的调速特性,输出函数特性变化小;3)动力特性好,稳定性高;4)要求多套输出而又希望结构简单。这些都是一般连杆机构难于达到的,需要进一步的探索、研究与开发,寻找新的途径。
本论文正是基于这一需要,针对高性能、大功率脉动无极变速器脉冲发生机构的特殊要求,更深入、全面的认识与了解平面连杆机构,进一步开拓连杆机构的应用领域,开发新的双输出函数发生机构,系统研究其结构学、运动学、动力学的综合理论与方法。本论文的主要工作如下:
①构建了脉动无级变速器的新型主传动机构(脉冲发生机构)——全铰链同轴式双输出六杆函数发生机构。根据脉动无级变速器的工作特性要求,应用结构综合理论,讨论了以六杆机构作为脉冲发生机构的可能方案。提出了连杆机构基本特性宏观评判方法,以高效、高稳定性、简化结构为主要目标,优选出了全铰链同轴式Stephenson型六杆函数发生机构,作为新的脉冲发生机构。这样,从根本上改变了现有脉动无级变速需多套机构并联,结构复杂所带来的一系列不足。
②根据Stephenson型同轴式六杆机构双输出函数发生器的结构与应用的特征,为便于分析与设计,提出了将该机构的五杆回路视为变连杆长的“等价四杆机构”的概念,从而将该六杆双输出函数发生机构视为具有同一曲柄的两套四杆机构(基础机构与等价四杆机构)进行分析和研究,应用ADAMS仿真软件,构建了同轴式双输出函数发生机构的参数化模型。详细讨论了可作为该双输出函数发生器的特殊结构,即相当于曲柄摇杆机构正反两种安装模式的六杆机构两个输出摇杆的运动特征,传力特征及规律;分析了同轴式双摇杆机构五杆回路(即变连杆长四杆机构)的基本运动特征、规律及其主要影响因素,并进行了两种安装模式的特征分析比较。更深入、系统的认识和了解了最基本的4~6杆机构的结构与运动学、动力学特征;为该双输出函数发生机构的应用与运动学动力学设计提供了理论依据,奠定了重要的基础。
③基于改善动力学性能,提高输出运动平稳性,针对六杆双输出函数发生器作为脉动无级变速器的脉冲发生机构的特殊运动要求,充分应用各种综合方法的优势,提出了“分段综合”的思路。首先采用运动几何学法按“分组综合”的策略,即采用运动几何学图解法与解析法相结合的方法,建立了基础四杆机构按两个位置,且瞬时传动比相等的特殊要求的综合模型,并对其进行求解。并以该四杆机构为基础,按变杆长等价四杆机构的等价原则,建立整体综合模型,求解与基础四杆机构具有相似运动规律的五杆回路(即等价四杆机构)尺寸参数。从而较好的解决了这一按特殊的高阶运动参数综合的难题,为全参数的优化综合,提供了可靠的初始解和理论依据。
④为进一步优化双输出函数发生机构的运动、动力学性能,得到其最优解(特别是具有较多可变设计参数的五边回路),在运动几何学综合的基础上,采用位移矩阵法建立了该机构的全参数综合方程,提出了等价四杆机构的修正传递函数要求,应用同伦一连续算法得到了机构的全部解,并通过分析得到最优解。达到了预期的综合控制目标。
⑤为进一步提高这一多回路、多输出、闭链结构系统的工作平稳性和机械效率与寿命,降低制造成本,对Stephenson型同轴式双输出六杆函数发生机构进行了创造性的自调结构设计。在对其进行了详细过约束分析和已有自调结构设计方法分析比较的基础上,提出了“零过结束自调基本组”进行平面连杆机构自调结构设计的方法。深入系统的总结了多回路系统,特别是具有非二元素杆中间构件(连杆)的自调结构设计和运动副合理配置的方法与原则。
⑥为满足大功率、高效率脉动无级变速器开发的需要,开发并研制了新型的带辅助环的楔铁式超越离合器。其构件大多是盘状的,易于平衡,动载荷较小,响应灵敏,且具有面接触,从而更具高的承载能力与使用寿命。在分析了该机构的工作原理的基础上,详细研究了其楔紧和退楔条件,并对其进行了较详细的结构设计,加工出该产品,完成了其性能的测试。
本论文的研究成果,不仅为开发脉动式无级变速器提供了新的途径,而且为平面连杆机构满足新的要求,充分挖掘其潜能,利用其优点,克服其缺点,进行创新设计与应用提出了新的途径与方向,具有重要的理论及应用价值。
Innovative design is the basic way of improving the capability of products’self-exploitation. During the process of mechanical production designing, innovation in transmission and execution system is core of mechanical motion system design. Therefore, mechanism innovative design is the eternal subject of mechanism research. Actually, the development of science and technology puts forward a more advanced demand on the structural, kinematics and dynamic performance of the mechanical products, which urges people do more thorough and systematical research in order to recognize and discover its potential for the innovative design and application. The planar linkage mechanism is one of the most widely used mechanisms, which is not only the most simple but the most complicated, and there are much theories and methods to analyse and design this kind of mechanism. Planar linkage mechanism is the kind of traditional mechanism that people have done deep research on it and mature in its application. Practically, development of technology and manufacture makes it be adequately recognized with its shortage overcome and benefit utilized, so it can meet the higher requirement.Thus, the further cognition, research and application to the linkage mechanism still has a bright future and it is also an important research aspect.
The mechanical continously variable transmission, with its unique advantage, from last 1960s, has always been paid close attention and was considered as a potential variable transmission with great future. The most important method of the innovative application to the structure and kinematical property of the linkage mechanism is the transmission form impulse mechanism to linkage mechanism. Not only fully utilized the advantage of the linkage mechanism, but uncovered the disadvantage of the linkage mechanism at the same time along with the higher request on the performance of the variable transmission. The main design requirement: (1) High transmission efficiency. (2) Adjustable infinite rotational speed output, outstanding speed regulation performance and minimum output functional characteristic variation. (3) Excellent dynamic characteristic and stability; (4) Multiple output but simple structure. It transcends the limit of normal linkage mechanism and needs further exploration、research and exploitation on a new way.
This paper is exactly based on these needs and aimed at the specific requirement of high-performance and high-power variable pulse transmission and pulse generator. Planar linkage mechanism was thoroughly studied and double out-put function generator was exploited further to applied field of the linkage mechanism. Also, this thesis systematically studied its synthesizing theory and method of the structure, kinematics and dynamics.
The main task:
①A novel main transmission mechanism (impulse generation mechanism) of continously variable transmission was constructed—the full hinge coaxial out-put binary link function generator. Then the possible schemes of six-bar mechanism working as impulse generation mechanism was discussed based on the structural synthesizing theory according to the specific working requirement to the continously variable transmission. And a basic macroscopically judgment method for the characteristic of the linkage mechanism was proposed. Furthermore, a full hinge coaxial six-bar function generation mechanism (model Stephenson) as the new impulse generation mechanism was selected according to the objective of high efficiency, extremely stablity and simple structure. The most important, the novel mechanism can completely remede those shortages, which makes the current pulse infinite transmitting require a complex structure of many parallel.
②For the convenience in analysis and designing, the concept of regarding the five-bar circuit of the mechanism as the equivalent four-bar mechanism of variable lenth in coupler was proposed according to the structural and characteristic of coaxial out-put binary link function generator (model Stephenson). Therefore, the six-bar double out-put function generation mechanism can be analyzed and studied as two sets of four-bar mechanism which have the same crank (basic and equivalent four-bar mechanism ).Then the parametric model of the coaxial double out-put function generator was constructed by using the ADMAS simulation software.
The specific structure of the double out-put function generator was discussed in detail, which motion character, force transmitting character and laws are equal to those of six-bar mechanism’s two out-put rockers with the positive and reverse installation modes of crank rocker mechanism. Furthermore, the basic motion character, laws and main influence factor of the five-bar circuit coaxial double rocker mechanism was analyzed (i.e. four-bar mechansim with variable length in link). And then the dynamics and kinematics character of basic4-6-bar mechanism was understanded thoroughly and systematically. The results provide a fundamental theory for the design and application of the double out-put function generation mechanism.
③Base on the purpose of improving the dynamical performance, enhancing the stability of the out-put and specific motion requirement of the six-bar double out-put function generator working as the impulse variable generation mechanism, the scheme of separate-synthetic was proposed. By using the combinative way of geometry diagram and analysis, a model of synthetic solution was constructed, which aim at the specific requirement of opposite instantaneous transmission ratio and two bit-parametric of the four-bar mechanism in order to build the synthetical-holistic model so as to solve the dimension parameters of five-bar loop (equivalent four-bar mechanism) with the similar motion laws to the basic four-bar mechanism. This scheme solved the problem of higher order of motion parameter and provided a reliable theory basis and original solution for the optimal synthesis of all parameter.
④To optimize the movement of the double out-put function generation mechanism and kinematical performance to get the optimal solution (especially the five-border loop which has more variable parameter), the displacement matrix method was adopted to build the full-parameterized synthetic function. A request of the modified equivalent four-bar mechanism and gained the whole solution of mechanism was proposed by using Homotopy Continuation methods, and finally obtained the optimal solution which reached the anticipative target of comprehensive control.
⑤To improve the stabilization, mechanical efficiency and lifespan of this multiple loop, multiple out-put and cycle structural system and reduce the manufacturing costs, the coaxial six-bar double out-put function generation mechanism (Stephenson model) has been innovatively designed on self-adjusting method. After the intensive analysis of over constraints,“basic link groups without overconstraint”planar linkage self-adjusting design method was proposed. Furthermore, the methods and principles of multiply-loop system were summarized thoroughly and systematically, especially including the design of self–adjusting structure with non-binary link as its middle component (link) and rationable displacement of working pair.
⑥A novel overrunning clutch with wedge leveled assistant-ring was developed, which components are usually discoid, easy to remain balance and relatively sensitive with small dynamic load and face contact. Therefore, it has a stronger carrying capability and lifespan. Based on the analysis of the mechanism’s principles, the condition about wedge-in and wedge-out was discussed thoroughly, and the structure design was carried out in detail. Then the machine was manufactured and tested with good properties.
This research achievement not only provided an innovative way of exploiting the Pulse variable Transmission, and pointed out a new direction for the new requirements to the Planar Linkage Mechanism which made it to reach its limit. It is of great academic significance and applicable value.
机械式脉动无级变速器,由于其一系列的独特优点,从上世纪60年代出现以来,一直受到人们的关注,是一种极有前途和潜力的无级变速器。其核心就是对连杆机构的结构及运动学特性的创造性应用。其最关键组成部分——脉冲发生机构即为连杆机构,它既充分应用了连杆机构的优点,同时随着对无级变速器的性能要求的提高,又暴露出了已有的脉冲发生机构的一些不足。而脉冲发生机构的主要的设计要求为:1)传动效率高;2)输出转速无级可调,且有良好的调速特性,输出函数特性变化小;3)动力特性好,稳定性高;4)要求多套输出而又希望结构简单。这些都是一般连杆机构难于达到的,需要进一步的探索、研究与开发,寻找新的途径。
本论文正是基于这一需要,针对高性能、大功率脉动无极变速器脉冲发生机构的特殊要求,更深入、全面的认识与了解平面连杆机构,进一步开拓连杆机构的应用领域,开发新的双输出函数发生机构,系统研究其结构学、运动学、动力学的综合理论与方法。本论文的主要工作如下:
①构建了脉动无级变速器的新型主传动机构(脉冲发生机构)——全铰链同轴式双输出六杆函数发生机构。根据脉动无级变速器的工作特性要求,应用结构综合理论,讨论了以六杆机构作为脉冲发生机构的可能方案。提出了连杆机构基本特性宏观评判方法,以高效、高稳定性、简化结构为主要目标,优选出了全铰链同轴式Stephenson型六杆函数发生机构,作为新的脉冲发生机构。这样,从根本上改变了现有脉动无级变速需多套机构并联,结构复杂所带来的一系列不足。
②根据Stephenson型同轴式六杆机构双输出函数发生器的结构与应用的特征,为便于分析与设计,提出了将该机构的五杆回路视为变连杆长的“等价四杆机构”的概念,从而将该六杆双输出函数发生机构视为具有同一曲柄的两套四杆机构(基础机构与等价四杆机构)进行分析和研究,应用ADAMS仿真软件,构建了同轴式双输出函数发生机构的参数化模型。详细讨论了可作为该双输出函数发生器的特殊结构,即相当于曲柄摇杆机构正反两种安装模式的六杆机构两个输出摇杆的运动特征,传力特征及规律;分析了同轴式双摇杆机构五杆回路(即变连杆长四杆机构)的基本运动特征、规律及其主要影响因素,并进行了两种安装模式的特征分析比较。更深入、系统的认识和了解了最基本的4~6杆机构的结构与运动学、动力学特征;为该双输出函数发生机构的应用与运动学动力学设计提供了理论依据,奠定了重要的基础。
③基于改善动力学性能,提高输出运动平稳性,针对六杆双输出函数发生器作为脉动无级变速器的脉冲发生机构的特殊运动要求,充分应用各种综合方法的优势,提出了“分段综合”的思路。首先采用运动几何学法按“分组综合”的策略,即采用运动几何学图解法与解析法相结合的方法,建立了基础四杆机构按两个位置,且瞬时传动比相等的特殊要求的综合模型,并对其进行求解。并以该四杆机构为基础,按变杆长等价四杆机构的等价原则,建立整体综合模型,求解与基础四杆机构具有相似运动规律的五杆回路(即等价四杆机构)尺寸参数。从而较好的解决了这一按特殊的高阶运动参数综合的难题,为全参数的优化综合,提供了可靠的初始解和理论依据。
④为进一步优化双输出函数发生机构的运动、动力学性能,得到其最优解(特别是具有较多可变设计参数的五边回路),在运动几何学综合的基础上,采用位移矩阵法建立了该机构的全参数综合方程,提出了等价四杆机构的修正传递函数要求,应用同伦一连续算法得到了机构的全部解,并通过分析得到最优解。达到了预期的综合控制目标。
⑤为进一步提高这一多回路、多输出、闭链结构系统的工作平稳性和机械效率与寿命,降低制造成本,对Stephenson型同轴式双输出六杆函数发生机构进行了创造性的自调结构设计。在对其进行了详细过约束分析和已有自调结构设计方法分析比较的基础上,提出了“零过结束自调基本组”进行平面连杆机构自调结构设计的方法。深入系统的总结了多回路系统,特别是具有非二元素杆中间构件(连杆)的自调结构设计和运动副合理配置的方法与原则。
⑥为满足大功率、高效率脉动无级变速器开发的需要,开发并研制了新型的带辅助环的楔铁式超越离合器。其构件大多是盘状的,易于平衡,动载荷较小,响应灵敏,且具有面接触,从而更具高的承载能力与使用寿命。在分析了该机构的工作原理的基础上,详细研究了其楔紧和退楔条件,并对其进行了较详细的结构设计,加工出该产品,完成了其性能的测试。
本论文的研究成果,不仅为开发脉动式无级变速器提供了新的途径,而且为平面连杆机构满足新的要求,充分挖掘其潜能,利用其优点,克服其缺点,进行创新设计与应用提出了新的途径与方向,具有重要的理论及应用价值。
Innovative design is the basic way of improving the capability of products’self-exploitation. During the process of mechanical production designing, innovation in transmission and execution system is core of mechanical motion system design. Therefore, mechanism innovative design is the eternal subject of mechanism research. Actually, the development of science and technology puts forward a more advanced demand on the structural, kinematics and dynamic performance of the mechanical products, which urges people do more thorough and systematical research in order to recognize and discover its potential for the innovative design and application. The planar linkage mechanism is one of the most widely used mechanisms, which is not only the most simple but the most complicated, and there are much theories and methods to analyse and design this kind of mechanism. Planar linkage mechanism is the kind of traditional mechanism that people have done deep research on it and mature in its application. Practically, development of technology and manufacture makes it be adequately recognized with its shortage overcome and benefit utilized, so it can meet the higher requirement.Thus, the further cognition, research and application to the linkage mechanism still has a bright future and it is also an important research aspect.
The mechanical continously variable transmission, with its unique advantage, from last 1960s, has always been paid close attention and was considered as a potential variable transmission with great future. The most important method of the innovative application to the structure and kinematical property of the linkage mechanism is the transmission form impulse mechanism to linkage mechanism. Not only fully utilized the advantage of the linkage mechanism, but uncovered the disadvantage of the linkage mechanism at the same time along with the higher request on the performance of the variable transmission. The main design requirement: (1) High transmission efficiency. (2) Adjustable infinite rotational speed output, outstanding speed regulation performance and minimum output functional characteristic variation. (3) Excellent dynamic characteristic and stability; (4) Multiple output but simple structure. It transcends the limit of normal linkage mechanism and needs further exploration、research and exploitation on a new way.
This paper is exactly based on these needs and aimed at the specific requirement of high-performance and high-power variable pulse transmission and pulse generator. Planar linkage mechanism was thoroughly studied and double out-put function generator was exploited further to applied field of the linkage mechanism. Also, this thesis systematically studied its synthesizing theory and method of the structure, kinematics and dynamics.
The main task:
①A novel main transmission mechanism (impulse generation mechanism) of continously variable transmission was constructed—the full hinge coaxial out-put binary link function generator. Then the possible schemes of six-bar mechanism working as impulse generation mechanism was discussed based on the structural synthesizing theory according to the specific working requirement to the continously variable transmission. And a basic macroscopically judgment method for the characteristic of the linkage mechanism was proposed. Furthermore, a full hinge coaxial six-bar function generation mechanism (model Stephenson) as the new impulse generation mechanism was selected according to the objective of high efficiency, extremely stablity and simple structure. The most important, the novel mechanism can completely remede those shortages, which makes the current pulse infinite transmitting require a complex structure of many parallel.
②For the convenience in analysis and designing, the concept of regarding the five-bar circuit of the mechanism as the equivalent four-bar mechanism of variable lenth in coupler was proposed according to the structural and characteristic of coaxial out-put binary link function generator (model Stephenson). Therefore, the six-bar double out-put function generation mechanism can be analyzed and studied as two sets of four-bar mechanism which have the same crank (basic and equivalent four-bar mechanism ).Then the parametric model of the coaxial double out-put function generator was constructed by using the ADMAS simulation software.
The specific structure of the double out-put function generator was discussed in detail, which motion character, force transmitting character and laws are equal to those of six-bar mechanism’s two out-put rockers with the positive and reverse installation modes of crank rocker mechanism. Furthermore, the basic motion character, laws and main influence factor of the five-bar circuit coaxial double rocker mechanism was analyzed (i.e. four-bar mechansim with variable length in link). And then the dynamics and kinematics character of basic4-6-bar mechanism was understanded thoroughly and systematically. The results provide a fundamental theory for the design and application of the double out-put function generation mechanism.
③Base on the purpose of improving the dynamical performance, enhancing the stability of the out-put and specific motion requirement of the six-bar double out-put function generator working as the impulse variable generation mechanism, the scheme of separate-synthetic was proposed. By using the combinative way of geometry diagram and analysis, a model of synthetic solution was constructed, which aim at the specific requirement of opposite instantaneous transmission ratio and two bit-parametric of the four-bar mechanism in order to build the synthetical-holistic model so as to solve the dimension parameters of five-bar loop (equivalent four-bar mechanism) with the similar motion laws to the basic four-bar mechanism. This scheme solved the problem of higher order of motion parameter and provided a reliable theory basis and original solution for the optimal synthesis of all parameter.
④To optimize the movement of the double out-put function generation mechanism and kinematical performance to get the optimal solution (especially the five-border loop which has more variable parameter), the displacement matrix method was adopted to build the full-parameterized synthetic function. A request of the modified equivalent four-bar mechanism and gained the whole solution of mechanism was proposed by using Homotopy Continuation methods, and finally obtained the optimal solution which reached the anticipative target of comprehensive control.
⑤To improve the stabilization, mechanical efficiency and lifespan of this multiple loop, multiple out-put and cycle structural system and reduce the manufacturing costs, the coaxial six-bar double out-put function generation mechanism (Stephenson model) has been innovatively designed on self-adjusting method. After the intensive analysis of over constraints,“basic link groups without overconstraint”planar linkage self-adjusting design method was proposed. Furthermore, the methods and principles of multiply-loop system were summarized thoroughly and systematically, especially including the design of self–adjusting structure with non-binary link as its middle component (link) and rationable displacement of working pair.
⑥A novel overrunning clutch with wedge leveled assistant-ring was developed, which components are usually discoid, easy to remain balance and relatively sensitive with small dynamic load and face contact. Therefore, it has a stronger carrying capability and lifespan. Based on the analysis of the mechanism’s principles, the condition about wedge-in and wedge-out was discussed thoroughly, and the structure design was carried out in detail. Then the machine was manufactured and tested with good properties.
This research achievement not only provided an innovative way of exploiting the Pulse variable Transmission, and pointed out a new direction for the new requirements to the Planar Linkage Mechanism which made it to reach its limit. It is of great academic significance and applicable value.
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