基于proe的装载机工作装置的实体建模及运动仿真_毕业设计 37页

摘要基于Pro/E的装载机工作装置的实体建模及运动仿真摘要：装载机是一种应用广泛的工程机械。有其广泛的空间，但由于装载机传统开发模式存在的开发周期长、过程繁杂、开发成本高、性能测试困难等问题，本文将仿真技术引入装载机开发领域，完成以下工作：1．介绍了装载机的发展历史及前景，装载机的种类，介绍了仿真技术产生的背景、在国内的发展状况以及仿真技术的实际意义。2．对液压缸作出了合理的选择。3．简述了Pro/E软件在工程设计中的应用，利用Pro/E构建装载机的三维实体模型，并对其进行装配，在Pro/E环境下进行了装配干涉检验。4．在Pro/ENIEERMECHANISM环境下进行运动仿真,得出装载机工作的性能曲线。关键字：装载机工作装置液压缸仿真技术三维建模Abstract：Loaderisakindofengineermachinethatiswidelyappliedinengineerproject,whichhaswildelyspace,Aimtotheproblemsthatexistintraditionalresearchwayofloader,forexampletheresearchcycleislong,thecostislong,thecostishighandtheperformancetestiscomplexetc,thispaperleadsvirtualprototypetechnologyintoresearchofloader.Thefollowingresearchworksarecompleted:1.Thedevelopmentforeground,thecategoryandloader’shistoryisintroduced,alsothebackgroundofsimulationtechnologycomeintobeing,developingstatusinlocalandthesignificanceofvirtualprototypetechnologyisintroduced.2.TobriefintroducethePro/Esoftwarewhichapplicationinthefieldofengineering,the3DmodelingisusedbyPro/Esoftware,whichisbuiltandinterferentialtestofassemblyinPro/Eenvironmentiscompleted.3.ThesimulatedmotioninPro/Eenvironmentiscompleted,andthecapabilitycurveisreached.4.Arationalchoiceforthehydraulicactuatingcylinder.Keywords:Loader,Workingmechanism,hydraulicactuating,Simulationtechnology,3DmodelingI\n目录目录摘要I1前言11.1装载机的简介11.1.1装载机的发展历史及前景11.1.2装载机的种类11.1.3本章小结31.2运动仿真技术简介41.2.1运动仿真技术产生的背景41.2.2运动仿真技术41.2.3运动仿真技术在国内外的发展概况41.2.4发展运动仿真技术的重要意义41.2.5总结51.3Pro/ENGINEER软件在工程设计中的应用51.3.1Pro/ENGINEER软件介绍51.3.2运动仿真技术对装载机设计理念的影响61.4本章小结72液压缸的选择82.1本章小结83装载机工作装置三维实体建模93.1工作装置零件建模93.1.1动臂的生成93.1.2铲斗的生成103.1.3底座的生成113.1.4连杆的生成113.1.5摇臂的生成123.1.6液压缸筒的生成123.1.7液压缸盖的生成133.1.8液压缸活塞的生成133.1.9连接销轴的生成133.2工作装置装配模型建模143.2.1底座模型装配153.2.2动臂模型装配153.2.3铲斗模型装配163.2.4液压缸体模型装配163.2.5摇杆模型的装配连接173.2.6连杆模型与铲斗模型和摇杆模型的装配连接173.2.7销钉模型的连接173.2.8本章小结204装载机工作装置运动仿真214.1概述214.2创建装载机工作装置的机械运动仿真214.2.1连接轴设置214.2.2创建快照224.2.3定义伺服电动机224.2.4运行运动254.2.5结果回放动态干涉检查与制作播放文件26III\n目录4.2.6测量285结论316致谢327主要参考文献338附表34III\n1前言1前言装载机是一种广泛用于公路、铁路、建筑、水电、港口、矿山等建设工程的土石方施式机械，它主要用于铲装土壤、砂石、石灰、煤炭等散状物料，也可对矿石、硬土等作轻度铲挖作业。换装不同的辅助工作装置还可进行推土、起重和其他物料如木材的装卸作业。在道路、特别是在高等级公路施工中，装载机用于路基工程的填挖、沥青混合料和水泥混凝土料场的集料与装料等作业。此外还可进行推运土壤、刮平地面和牵引其他机械等作业。由于装载机具有作业速度快、效率高、机动性好、操作轻便等优点，因此它成为工程建设中土石方施工的主要机种之一，同时也成为工程机械中发展最快、产销量及市场需求最大的机种之一。1.1装载机的简介1.1.1装载机的发展历史及前景我国装载机始于1960年末，发展至今它经历了3个发展阶段，即60年代仿制摸索阶段；70年代自力更生研制阶段；80年代至90年代技术引进、合资合作发展阶段。自1958年，上海港口机械厂首先测绘并试制了67KW（90hp）、斗容量为1的装载机——我国自己制造的第一台装载机之后。全国装载机产品从1976年的446台发展到1996年的18310台，二十年内增长41.1倍。同时国民经济的发展与国家基建规模及资金投入的增大，更促进了我国装载机行业的迅速发展。生产企业由1980年的20家增至现在的100余家，初步形成了规格为0.8~10t约19个型号的系列产品，并已成为工程机械主力机种。自此装载机在全国机械产品中，成为重要代表产品，令世人瞩目。随着我国经济的持续、健康、高速发展，对工程机械的需求将增长，这些需求对工程机械产品既提出了“量”又提出了“质”的巨大市场需求。我国“九五”期间土石方、路基路面、基础及建筑施工工作量预计比“八五”要大一倍以上，工程机械的总需求量亦将为“八五”期间的二倍，推土机、装载机、轮式起重机、叉车、路面机械、凿岩钻车及挖掘机械等7类主要工程机械“九五”末的年需求量可在11万台以上。而轮式装载机2000年时年需求达27000～30000台以上，这就为我国轮式装载机行业的发展提供了一个良好的市场前景，为制订战略发展宏伟目标提供科学决策依据。综观国外装载机的发展特点及外部环境，专家预测未来装载机的主要发展趋势是：（1）开发节能、高效、可靠、环保型产品，并研制无泄漏装载机。（2）微电子及机电液仪一体化技术将获得越来越广泛的应用。（3）安全性及舒适性是产品发展的重要目标。（4）大型化与微型化仍是产品系列化的两极方向。（5）技术进步、人才培养和售后服务将成为企业生存的三大关键内在因素。（6）集团化、社会化与国际化是企业生存与发展的必由之路。1.1.2装载机的种类目前，装载机的国际市场分为3\n1前言两类：一类是发达国家市场，二类是发展中国家市场。发达国家市场的产品技术水平和质量要求很高，竞争异常激烈。由于我国装载机产品档次低，不易开拓此类市场，而应重点巩固与继续发展二类市场。二类市场主要包括东南亚、中东、非洲和南美洲四大区域市场，主要由发展中国家组成，与我国有良好的外交关系，往来密切，也是我国装载机出口量最多的地区。因此，发展中国家市场是目前我国装载机进入国际市场的主攻方面。由于受东南亚经济危机持续时间加长、印尼国内动乱及一些国家货币贬值等诸多外部因素的影响，导致了我国装载机出口难度的增加，也给国外装载机及其关键部件的进口创造了外部条件。因此，有关生产装载机企业（包括合资企业）要积极准备，把握时机，迎接挑战，扎实搞好“三大战役”，务求在品种、质量、交货期和售后服务等方面有一个更大的发展。在有限的时间内，集中力量解决目前存在的以下三个问题：相当一批产品水平较低，高科技含量少，可靠性较差；中小型号生产厂家多而杂，产量过剩；产品结构不合理，多数企业形不成规模效益。总的来说，常用的单斗装载机，按行走装置，发动机功率，传动形式，行走系结构，装载方式的不同进行分类。 1、行走装置的不同： 装载机分为轮胎式和履带式两种。轮胎式装开机由动力装置、车架、行走装置、传动系统、转向系统、制动系统、液压系统和工作装置等组成，其结构简单图如图2所示。轮胎式装载机采用柴油机为动力装置，液力变矩、动力换档变速箱、双桥驱动等组成的液力机械式传动系统（小型轮胎式装载机有的采用液压传动或机械传动），液压操纵，铰接式车架转向，反转杆机构的工作装置。履带式装载机以专用底盘或工业拖拉机为基础车，装上工作装置并配装相就原操纵系统而构成，如图1所示。履带式装载机的动力装置也是柴油机，机械式传动系统则采用液压助力湿式离合器或湿式双向液压操纵转向离合器和正转连杆机构的工作装置。图1轮胎式装载机3\n1前言图2履带式装载机1-行走机构；2-发动机；3-动臂；4-铲斗；5-转斗油缸；6-动臂油缸；7-驾驶室；8-燃油箱2、发动机功率：    ①功率小于74kw为小型装载机。    ②功率在74～147kw为中型装载机    ③功率在147～515kw为大型装载机    ④功率大于515kw为特大型装载机  3、传动形式：    ①液力—机械传动，冲击振动小，传动件寿命长，操纵方便，车速与外载间可自动调节，一般在中大型装载机多采用；    ②液力传动：可无级调速、操纵间便，但启动性较差，一般仅在小型装载机上采用；    ③电力传动：无级调速、工作可靠、维修简单、费用较高，一般在大型装载机上采用。  4、行走结构：    ①轮胎式：质量轻、速度快、机动灵活、效率高、不易损坏路面、接地比压大、通过性差、但被广泛应用；    ②履带式：接地比压小，通过性好、重心低、稳定性好、附着力强、牵引力大、比切入力大、速度低、灵活性相对差、成本高、行走时易损坏路面。  5、装卸方式：    ①前卸式：结构简单、工作可靠、视野好，适合于各种作业场地，应用较广；    ②回转式：工作装置安装在可回转360O的转台上，侧面卸载不需要调头、作业效率高、但结构复杂、质量大、成本高、侧面稳性较差，适用于较侠小的场地。    ③后卸式：前端装、后端卸、作业效率高、作业的安全性欠好。1.1.3本章小结本章主要讨论了装载机的发展状况及发展趋势，介绍了装载机的种类，为课题研究的实际意义提供了依据。3\n1前言1.2运动仿真技术简介1.2.1运动仿真技术产生的背景进入21世纪，科学技术突飞猛进，社会发展日新月异。人们对个性化产品的需求越来越迫切，对产品性能的要求也越来越高，全球化经济已明显地呈现出买方市场的特点。由于这一变化，导致市场竞争日趋激烈，而竞争的核心则主要体现在产品创新上，体现在对客户的响应速度和响应品质上。传统的物理样机在产品的创新开发中，在开发周期、开发成本、产品品质等方面已越来越不能满足市场需求，运动仿真技术正是在这一市场需求的驱动下产生的。1.2.2运动仿真技术运动仿真技术是一种崭新的产品开发方法，是多个相关学科领域交叉、集成的产物，是一种基于产品的计算机仿真模型的数字化设计方法。其涉及机械、电子、计算机图形学、仿真建模、虚拟现实等多个领域、多项技术，以计算机仿真和产品生命周期建模为基础，以机械系统运动学、动力学和控制理论为核心，借助成熟的三维计算机图形技术、图形用户界面技术、信息技术、集成技术、多媒体技术、并行处理技术等，将分散的产品设计开发和分析过程集成在一起，使得与产品相关的所有人员能在产品研制的早期直观形象地对虚拟的产品原型进行设计优化、性能测试、制造仿真以及使用仿真等。换句话说“运动仿真”设计方法就是在建造第一台（件）物理样机之前，利用软件技术建立产品系统计算机模型，通过基于实体可视化的仿真分析，模拟系统在真实工作环境条件下的运动和动力特性，以便反复修改设计方案，最终得到最优设计方案。1.2.3运动仿真技术在国内外的发展概况国外已在各个领域广泛地应用仿真设计。所涉及到的产品从庞大的卡车到微小的照相机的快门，从火箭到轮船的锚机。在工程／矿山机械行业，如约翰·迪尔公司利用仿真技术成功地解决了工程机械在高速行驶时出现蛇行现象的问题及在重载下的自激振动这个一直困扰着设计师及用户的难题，大大提高了工程／矿山机械高速行驶性能与重载作业性能。卡特彼勒公司利用虚拟样机在切削任何一片金属之前就可快速试验数千种设计方案，不但降低了产品设计成本，缩短了开发周期，而且还制造出性能更为优异的产品。运动仿真技术在国外已有很多应用实例，我国也正极急投身于该项技术的研究中。在传统上，我国引进物理样机，开发人员往往停留在零件照抄的水平上，对于样机缺乏系统水平上的理解和研究，结果虽然投入了大量的人力物力，却收效甚微。但如果采用虚拟样机技术，技术人员便可对引进样机进行深入的研究，可以追踪样机的设计思想，从而真正提高设计人员的水平，开发出能满足市场需求的产品来。1.2.4发展运动仿真技术的重要意义运动仿真设计方法将分散的零部件设计和分析技术集成在一起，提供一种更全面地了解设备性能的方法。它利用虚拟环境在可视化方面的优势以及可交互式地探索虚拟物体的功能，对设备进行几何、功能及制造等方面交互的建模与分析。在概念设计和方案论证中，便于设计师将自己的经验与想象融于计算机的虚拟样机设计中，充分发挥想象力和创造力，并替代物理样机进行性能模拟试验。设计师可在计算机上方便地确定、修改设计进程，逐步优化设计方案。通过运动仿真34\n1前言机试验，还可节省建立试验台、安装测试设备和测试仪表等有关的费用，更快地确定影响设计方案性能的敏感参数，达到最优化设计目的。这样，可大大缩短设备研发周期，降低研制成本，提高设计质量和效率，为产品赢得了竞争优势。1.2.5总结基于运动仿真的设计方法将成为21世纪工矿设备开发、研究的主流。对成本高、系统复杂、工况恶劣，而又不可能制造多台物理样机的设备其应用前景更加广阔，如大型露天矿用设备、煤矿井下综采设备和深海开采设备等。以及那些事关国际名声的骨干行业，如汽车工业、军事工业等，仿真技术在这些行业的应用在带来可观经济效益的同时，亦可提高其产品的设计水平和市场竞争力，有着广阔的发展前景。因此，仿真技术的各项关键技术必将为经济发展、国防建设、科技发展及社会进步做出重大贡献。1.3Pro/ENGINEER软件在工程设计中的应用1.3.1Pro/ENGINEER软件介绍Pro/ENGINEER和Pro/MECHANICA是由美国参数技术公司推出的一套博大精深的三维CAD/CAM参数化软件系统,被广泛应用于工程技术领域。Pro/ENGINEER和Pro/MECHANICA不仅能够实现机械二维和三维动态造型仿真设计、机械设计、模具设计、加工制造设计、而且还能够实现机构仿真、结构分析、优化设计、电路设计以及数据库管理等多种技术目的。应用领域包括航空航天、汽车、机械、NC加工，电工等诸多行业。由于其强大而完美的功能Pro/ENGINEER几乎成为三维CAD/CAM领域的一面旗帜和标准。它在国外大学院校里以成为学生工程必修的专业课程，也成为工程技术人员必备的技术，是目前国际上专业设计人员使用最为广泛的、先进的、具有多种功能的动态设计仿真软件。随着我国加入WTO，一场新的工业设计领域的技术革命正在兴起。作为提高生产率和竞争力的有效手段Pro/ENGINEER也在国内形成一个广泛应用的热潮。Pro/ENGINEERWILDFIRE是美国PTC公司于2003年新推出的Pro/ENGINEER系列产品中的旗舰产品该软件在原有的2001版本基础上新增了重多功能，特别强调了设计过程的易用性以及设计人员之间的互联性。原有的Pro/ENGINEER产品的升级周期为半年一次，而本次升级却花了两年的时间，其产品性能有了本质性的改善。PTC的系列软件不但包括了在工业设计和机械设计等方面的多项功能，还包括对大型装配体的管理、功能仿真、制造、产品数据管理等等。Pro/ENGINEER提供了目前所能达到的最全面、集成最紧密的产品开发环境。它的技术特点在于以下两个方面。1Pro/E参数化设计特征和功能Pro/ENGINEER是采用参数化设计的、基于特征的实体的建模工具，工程设计人员采用具有智能特性的基于特征的功能去生成模型，如Hole（孔）、Shell（壳）、Chamfer（倒角）及Round（倒圆角）。用户可以方便的修改模型，给工程设计者提供了设计上从未有过的简易和灵活。2Pro/E单一数据库Pro/ENGINEER建立在统一基层上的数据库上，而传统的CAD/CAM系统建立在多个数据库上。所谓单一数据库，是指工程中的资料全部来自一个库，每一个独立用户都能同时为同一件产品造型而工作。换言之，在整个设计过程任何一处发生改动，在整个设计过程的相关环节上都有响应。例如，一旦工程详图有改变，NC34\n1前言（数控）工具路径就会自动更新；组装工程图如有变动，也完全反映在整个三维模型上。这种独特的数据结构与工程设计的完美组合，把一件产品的设计工作紧密结合起来，使得设计效率更高，成品质量更好，产品能更好地推向市场，价格也更便宜，市场竞争力大大增强。本次对矿用小型装载机的设计应用Pro/ENGINEERWILDFIRE软件,现就本次设计所接触到的几个主要模块做简要概述。1机械设计CAD模块机械设计模块是一个高效的三维机械设计工具，它可绘制形状相当复杂的零件。在实际中存在大量形状不规则的物体表面，如摩托车轮毂，这些称为自由曲面。随着人们生活水平的提高，对曲面产品的需求将会大大增加。用Pro/E生成曲面非常方便，方法有：拉伸旋转放样扫掠网格点阵等。由于生成曲面的方法较多，因此Pro/E可以迅速建立复杂曲面。2运动分析模块（ScenarioForMotion）运动分析模块（CAE）是CAE（ComputerAidedEngineer）应用软件，用于建立运动机构模型，分析其运动规律。运动分析模块自动复制主模块的装配文件,并建立一系列不同的运动分析方案。Pro/ENGINEER运动分析模块可以进行机构的干涉分析，跟踪零件的运动轨迹，分析零件的速度、加速度、作用力、反作用力和力距。Pro/ENGINEERMOTION模块为Pro/ENGINEER的集成运动模块，是设计机构运动强有力的工具。该模块可以让机构设计师设定装配件在特定的环境中的机构动作并给予评估，能够判断出改变哪些参数能满足工程及性能超群上的要求，使产品设计达最佳状态，Pro/ENGINEERMOTION有如下功能：1)校验机构运动的正确性，对运动进行仿真，计算机构任意时刻的位置、速度、加速度。2)可以通过运动分析，得出装配的最佳配置。3)根据给出的力决定运动状态及反作用力。4)根据运动反求所需要的力。5)求出铰接点所受的力及轴承力。6)通过尺寸变量对机构进行优化。7)干涉检查。1.3.2运动仿真技术对装载机设计理念的影响装载机是一种作业效率高，用途广泛的工程机械，它不仅对松散的堆积物料可进行装运、卸作业，还可对岩石、硬土进行轻度铲掘工作，并能用来清理刮平场地及牵引作业。经过80多年的发展，到今天装载机已经成为一种必不可少的工程用具。目前，世界上已经出现了许多能够满足不同要求的规格种类繁多的装载机产品。随着科技的发展，和设计理念的不断更新，还将出现更多功能和性能优良的装载机产品。本次改装设计的小型装载机主要用于中小型矿井下代替人工，铲装粒度不大的散装物料，对提高中小型矿井的机械化水平有重要意义。通常在对轮式装载机的工作装置进行机构分析时一般采用图解法或解析法，采用图解法精度较低，使用解析法计算又很复杂，因此一般只对几个作业位置进行分析计算，难以了解全部工况的作业性能及负荷变化。为解决这一问题，我们使用机械系统运动学与动力学分析仿真软件对其进行分析。这就要求先进行装载机工作装置的运动仿真设计。装载机工作机构的运动仿真的设计主要是用大型参数化建模工具Pro/E34\n1前言NINEER对工作装置先进行三维实体建模，然后实现动态模拟。为能够方便的解决在产品设计阶段中运动构件在运动过程中的运动协调关系、运动范围设计、可能的运动干涉检查等问题找到一个切实可行的新方法。装载机虚拟样机的设计步骤和传统设计步骤基本相同如图1.2.1所示。NYYYNNY矿用装载机模型设计方案实体建模干涉检查分析N运动分析生成工程图是否符合设计要求设计结果是否满意图1.2.1装载机工作装置运动仿真设计步骤1.4本章小结本章主要讨论了运动仿真技术产生的背景、状况及发展趋势，介绍了运动仿真应用的领域和实现的过程，指出了课题研究的背景和实际意义，确定了论文所要完成的主要任务和预期目的。介绍了Pro/ENGINEE软件在工程设计中的应用34\n2液压缸的选择2液压缸的选择缸的主要参数包括行程、缸径、最高使用压力等。大臂缸和翻斗缸的要求相同均为最大推力：20000N、行程：800mm，一般均是工作过程中伸出过程压力远高于缩回过程，主要按伸出推力计算即可，活塞截面积：Ah=Fmax/pmax=20000N/14.23MPa=1.4*10-3m2Dg=2×(Ah/π)1/2=42mmAh预算缸的活塞面积Fmax缸允许的最大推力pmax泵输出的最大压力Dg预算缸的内腔直径那就要求所选缸最高使用压力大于或等于14MPa，行程为800mm，缸内径为42mm或略小于42mm的尾部耳环式等速缸。选缸：D25WEM—ISO型号行程最高使用压力D25WEM—ISO800mm25MPa活塞杆直径液压缸内径22mm80mm2.1本章小结正确选择液压缸的参数对下面的工作十分重要,在计算行程当中,如有不当就可能造成干涉,直接影响装配,装配不成功,就无法进行运动仿真.34\n3工作装置的实体建模3装载机工作装置三维实体建模3.1工作装置零件建模在传统的工程设计中，设计人员首先在头脑中形成产品的三维轮廓，然后在图纸上利用二维工程图表示，其他设计人员以及工艺生产等不同部门的人员再通过二维图纸将产品还原为三维影像。由于图纸的错误和理解的偏差，设计人员的意图并不总能完全实现，因而设计制造的周期较长，产品的质量也受到影响。在产品的形状和结构较为复杂的时候尤其如此。因此三维化设计应该是发展趋势。三维模型的发展经历了由线框、曲面到实体的过程。实体模型最真实的反映三维形体的特性，不但包括了形体的几何轮廓，而且由于实体有密度属性，因而可以进行质量计算、干涉检查等操作。基本特征是建模时创建的第一个特征，是零件结构的基本要素。基本特征以后的其他特征依赖于基本特征。基本特征可以是实体特征，也可以是基准特征，正交基准平面就常常被用作基本特征。在Pro/E中进行零件设计的步骤是先创建基本特征，然后添加结构特征。开始做零件之前，应做好充分的准备工作，明确设计意图。认真考虑设计的关键尺寸，可以变动的尺寸与尺寸之间的关系，在装配时与其他零件的装配关系等。由于在Pro/E中实体模型可以有多种不同的生成方法,采取何种方法更为合理、高效,需要有一个经验积累过程。一般来说，要根据图形的形状选择生成模型的方式。草图绘制尽量简化，最好不要绘制过渡圆角、倒角等非关键性信息。如果要像绘制二维工程视图那样绘制草图,效率会很低,实践证明也没有这个必要。因为在Pro/ENGINEER中我们可以对实体进行各种编辑操作，如倒圆角。再就是如果草图绘制过于精细,再生成模型时会耗尽计算机资源,使得三维模型生成速度很慢且易出现问题。3.1.1动臂的生成图3.1.1动臂实体图动臂建模主要采用拉伸，首先选定草绘平面进入草绘模式，绘出动臂二维草图，然后进行拉伸生成动臂三维实体，再在其上打孔，应注意保证主要尺寸的准确性。对另一个动臂我们可以用复制的方法得到。复制方法有两种：一是镜像，另一是平移，如图134\n3工作装置的实体建模采用镜像。最后添加一些细节如图1动臂上的筋板，添加筋板时要注意参考面的正确建立。对于复杂的零件,选择合理的生成方法就显得尤为重要。因为选择不正确的生成方法不但效率低，而且有些情况根本就不能生成实体模型。因此，设计人员在设计实体模型之前，必须要考虑好模型的生成方法和步骤。这就要求设计人员要有较好的空间想像力和抽象思维能力，这也是三维建模同二维图形绘制最大的不同点之处。3.1.2铲斗的生成采用拉伸方法建立铲斗基本体，用抽壳功能形成基本壳体。在基本体上添加加厚板以及肋板特征。添加耳特征时只需建立耳特征的一个面，然后采用镜像复制命令就可以完成肋板的设计。最后采用两侧拉伸方法添加截齿特征和陈列生成。在铲斗建模过程中要注意的是两侧加厚板的复制。图3.1.2铲斗实体图34\n3工作装置的实体建模3.1.3底座的生成图3.1.3底座实体图先建立底盘框架，采用裁减命令生成槽钢结构，在框架上生成后续特征。底座的生成主要采用了拉伸命令，裁减命令和复制命令。底座建模过程中需注意翻转油缸连接座的正确定位。3.1.4连杆的生成图3.1.4连杆实体连杆的生成比较简单，主要采用了拉伸命令，需要注意的是在草绘截面时尺寸的标注，要保证主要尺寸的准确，比如两孔中心距。34\n3工作装置的实体建模3.1.5摇臂的生成图3.1.5摇臂实体图摇臂建模也主要采用拉伸命令，先建立特征实体的一半然后用复制特征命令镜像特征另一半，需要注意的是镜像特征时对称基准的建立方法。然后在基本特征上建立孔特征，应注意保证孔间距的准确，建议：先建立摇臂两端的连接孔，生成后再建立中间连接孔。这样作，主要是避免三孔同时建立时出现的孔位置难以确定的问题。3.1.6液压缸筒的生成图3.1.6液压缸筒实体液压缸模型结构及尺寸参看机械设计手册，主要采用拉伸和裁减命令生成，需要注意的是尾部联结油管的内部结构和建立方法。34\n3工作装置的实体建模3.1.7液压缸盖的生成图3.1.7液压缸盖实缸盖结构和尺寸参看机械设计手册，主要用拉伸和裁减命令，注意内部需加上密封槽。3.1.8液压缸活塞的生成图3.1.8液压缸活塞实体其结构和尺寸需参看机械设计手册，也主要采用拉伸和裁减命令生成，注意也要加上密封槽。注：本次设计的小型装载机工作装置需采用三个液压缸，其中翻转液压缸和举升液压缸基本结构相同，所不同的只是长度尺寸不同，所以只需建立一个举升液压缸零件，翻转液压缸零件可在举升油缸的基础上通过修改尺寸再生而成3.1.9连接销轴的生成图3.1.9连接销轴实体34\n3工作装置的实体建模销轴建模主要采用旋转命令，先绘制一条旋转轴，接着草绘截面，再绕旋转轴旋转360度就可生成销轴实体，然后生成轴端的限位孔，最后在需要倒角的部位倒角。要注意的是建立限位孔时需先创建与柱面相切的基准面作为草绘截面3.2工作装置装配模型建模零件设计完成后，往往需要根据设计要求对零件进行装配。在Pro/ENGINEER的装配模块中，通过定义零件之间的位置约束关系，可以把子零件装配成一个装配件，并检查零件之间是否有干涉以及装配体的运动情况是否合乎设计要求。同时在生成装配体过程中，用户可以根据需要添加生成新的零件和特征。使用Pro/E进行装配设计有两种基本方法，示意图如图3.2.1所示。在上面两种方法中，第1种方法相对第2种方法是比较低端的方法。因为在真正的概念设计中，（a）由底向上的设计方法(b)由顶向下的设计方法图3.2.1Pro/E的装配件设计方法34\n3工作装置的实体建模很少利用一个零件来控制整个装配体的设计，往往都是在拿出产品的外在概念和功能概念后，逐步对产品进行设计上的细化，直至细化到单个零件。比如设计一种新型号的汽车，先由设计师拿出汽车外观的概念图，然后由底盘工程师和车身工程师一起进行汽车的布局协调，根据协调的结果，得到各自部分布局的概念图，在这个布局概念的基础上进行零件的细化设计。由此可以看出，在对产品总体设计上，以由顶向下的设计方法更为贴近实际一些。但是由底向上的设计方法并不是一无是处，对于一些已经比较成熟的产品设计过程，采用这种设计方法效率反而高一些。在实际的装配过程中通常混合使用这辆中设计方法，以发挥各自的优点。比如本次对矿用小型装载机的改造设计，由于该项设计在技术上已经比较成熟，所以采用第一种方法比较合适。前面已经生成矿用小型装载机的各种底层零件的三维模型，然后采用由底向上的装配设计方法对这些零件进行空间定位来生成装配件。在装配件设计时，可以根据需要对装配件中的零件进行修改，比如修改零件尺寸，移动零件在装配件中的位置，生成新的特征等。对于一个装配件，当其中所有的零件都被完全约束时，这种装配件就称为参数化的装配件，否则就是非参数化的装配件。下面对本次装载机工作装置模型的装配设计过程作简要叙述：3.2.1底座模型装配进入装配界面调入图3.1.3所示底座实体模型，点选图3.2.2所示按扭固定主体模型。在元件放置对话框中点确定。图3.2.23.2.2动臂模型装配调入图3.1.1所示动臂实体模型，在元件放置对话框中点“连接”(图3.2.3)在连接类型中选“销钉”（图3.2.4），约束类型1为“轴对齐”分别在动臂模型和底座模型上选择需要对齐的轴线。约束类型2为“平移”，分别在两实体上选择要匹配的面，系统会自动调节模型位置，可以点选“反向”按钮改变模型方向，在“约束偏移”框中输入偏移尺寸（如图3.2.5）可以调节匹配面间的间隙，点选“移动”（图3.2.6）进入移动界面，（如图3.2.7）选“旋转”，用鼠标在图区点选动臂模型，然后拖动鼠标可以调节动臂角度，点中键终止操作，点“确定”完成动臂模型装配。34\n3工作装置的实体建模图3.2.3图3.2.4图3.2.5图3.2.6图3.2.73.2.3铲斗模型装配调入铲斗模型，动臂和铲斗的连接类型也属于销钉连接，分别选取铲斗模型和动臂模型需要对齐的轴，然后选择匹配平移面，操作方法同动臂装配操作方法。3.2.4液压缸体模型装配第一步：缸筒与底座的连接缸筒与底座的连接属于销钉连接，操作方法同前所述。旋转缸筒角度使其基本接近和动臂连接的角度。第二步：活塞杆与缸筒和动臂的连接活塞杆与缸筒之间能够自由伸缩，所以连接类型选用“圆柱”连接。“圆柱”连接类型只有一个轴对齐约束，分别选取缸筒和活塞杆的中心轴，点选“移动”按扭选择“平移”，调整活塞杆在缸筒中的位置。在元件放置对话框中点“+”按扭（图3.2.8）增加一个“销钉”连接类型，分别选取活塞杆前端环和动臂连接轴孔的轴线，然后分别选取活塞杆前端环和动臂需要匹配的面，输入偏移尺寸，系统自动完成活塞杆与动臂的装配连接，点“确定”退出。34\n3工作装置的实体建模图3.2.8第三步：缸盖模型的装配调入缸盖模型，在连接类型中选取“刚性”连接，在约束中选“匹配”选择缸的前端面和缸盖内端面进行重合匹配，再增加“插入”约束，分别选取缸盖曲面和缸体曲面，系统自动完成缸盖的装配连接。3.2.5摇杆模型的装配连接摇杆模型与动臂模型装配连接也采用销钉连接操作方法同上所述。3.2.6连杆模型与铲斗模型和摇杆模型的装配连接在装配连杆时首先选取和摇杆的连接或和铲斗的连接为“销钉”连接，操作过程同前所述。其次选取连杆的另一端与铲斗或摇杆的连接为圆柱连接，操作过程同前所述。这样就完成了连杆模型的装配。3.2.7销钉模型的连接销钉的连接选用“刚性”连接，首先选取“插入”约束，选择销钉曲面和要插入的孔面，其次选取“匹配”约束，选择销钉盖内表面和需要匹配的面完成重合匹配，最后点“确定”结束。(a)34\n3工作装置的实体建模(b)(c)34\n3工作装置的实体建模(d)(e)34\n3工作装置的实体建模(f)图3.2.9装载机六种不同工况下的装配模型3.2.8本章小结本章主要介绍了本次所设计的矿用小型装载机工作装置的主要零件的三维实体建模方法和模型的装配设计过程。需要提出的是在建模过程中，对于不同生成方法的选择应尽可能采用简单方法，采取能简则简的原则，这样能大大提高设计效率。对于细节问题一般放在设计最后统一进行。如倒角、渲染效果等。在装配设计中需要注意的是各模型之间连接类型和约束的选择，正确的选取连接类型和约束，能够确保后续动态仿真的实现。本次设计的主要任务是矿用小型装载机工作装置的动态模拟设计，但为了美观,根据车体的基本结构和基本尺寸也生成了车体,如图3.2.9所示为本次设计装配的装载机在几种不同情况下的装配模型。34\n4工作装置运动仿真4装载机工作装置运动仿真4.1概述完成装载机工作装置的装配模型设计后，就要开始进行本次设计的核心内容―――装载机工作次试验才确定的。可能因为初次设计，缺乏经验的原因，但也能够看出正确的装配方法是确保运动仿真能够实现的关键。在Pro/ENGINEER的“机械（Mechanism）”模块中，可进行一个机械装置的机械运动仿真，并将其结果输入到Pro/MECHANICA中，以便于进一步进行力学分析，也可以将“机械”模型带入到“设计动画”中来创建一个动画序列。4.2创建装载机工作装置的机械运动仿真4.2.1连接轴设置本次设计只对大臂连接轴进行了设置，对其余连接轴均采用默认设置。大臂连接轴设置过程如下：打开工作装置的装配模型文件，点选主菜单上的“应用程序”弹出其下拉菜单，然后点选“Mechanism”进入机械模块界面。接着选择“Mechanism”，弹出其下拉菜单，点选“拖动”命令。出现“拖动”对话框，如图4.2.1所示。然后选取装配模型中的大臂上的一点，用鼠标对其进行托移。建议在托移过程中将铲斗锁定。具体方法:先点选“拖动”对话框中的“约束”选项卡，如图4.2.1所示。再点选标签，如图4.2.2所示，然后选取铲斗与大臂的连接轴，这样就锁定了铲斗，在拖动大臂过程中铲斗将保持不动。图4.2.1图4.2.2将大臂托移到铲土工况时的位置，也就是图3.2.9(a)所示大臂位置，然后关闭“托动”对话框。选择“Mechanism(M)”下拉菜单中的“连接轴设置”命令，系统弹出如图4.2.3所示的“连接轴设置”对话框，在该对话框中进行下列操作：在装配模型中选择大臂与底座的连接轴，系统加亮所选取的轴，该连接轴名称Connection_1.axis_1显示在对话框中，同时该接头中的第一主体底座显示绿色，第二主体大臂显示青色。清除复选框并单击“生成零点”。系统便将当前“连接轴位置”34\n4工作装置运动仿真设置为零。点“限制”按钮系统显示如图4.2.4所示的界面，选中该界面中的复选框，再分别在“最小”和“最大”文本框中键入0和81。这样就限定了该连接轴，即大臂的运动范围。单击“连接轴设置”对话框中的“确定”按钮。完成该连接轴设置。再次拖动大臂可验证所定义的极限已经起作用了。图4.2.3图4.2.44.2.2创建快照此处省略 NNNNNNNNNNNN字。如需要完整说明书和设计图纸等.请联系 扣扣：九七一九二零八零零另提供全套机械毕业设计下载！该论文已经通过答辩图4.2.834\n4工作装置运动仿真a.键入开始时间0（单位为秒）。b.选择测量时间域的方式：单击该区域中的，从下拉列表中选择“长度和帧频”。c.键入结束时间34.4（单位为秒）。d.键入帧频10e.键入最小时间间隔0.1（单位为秒）（1）进行初始配置：在图所示的“分析定义”对话框的“初始配置”区域中，选择选项。注意：当前：机械装置从当前的屏幕位置开始运行运动。快照：从保存在“拖动”对话框中快照列表中，选择某个快照，工作装置从该快照开始运行运动。本次设计选择“快照1”即铲土工位开始运行运动。Step4.运行运动。在图所示的“分析运行”对话框中，单击“运行”按钮。或者，单击“分析定义”对话框中的“确定”按钮后，再在“分析”对话框中，单击“运行”按钮。Step5.完成运动定义：单击“分析定义”对话框中的“确定”按钮；单击“分析”对话框中的“关闭”按钮。4.2.5结果回放动态干涉检查与制作播放文件使用“回放”命令可以查看前面已经运行的工作装置运动定义。对每一个运行的运动定义，将单独保存一组运动结果，其结果可以保存在一个文件中，此文件可以在另一个进程中运行。也可以使用该命令来删除恢复或输出这些结果。在回放中，还可以进行动态干涉检查和制作播放文件。下面说明本次设计的操作过程。Step1.选择“Mechanism(M)”中的“回放”命令（或直接单击命令图标）。Step2.系统弹出如图4.2.9所示的“回放”对话框，在该对话框中进行下列操作。（1）选取运动名称：从“结果集”下拉列表中，选取前边定义的运动名称。（2）定义回放中的动态干涉检查。a.选择在回放期间要检查的干涉类型：在“模式”区域中，选择命令。b.为干涉类型检测提供可用选项：在“选项”区域中选择。34\n4工作装置运动仿真图4.2.9（3）开始回放演示：在如图所示的“回放”对话框中，单击“演示”图标系统便开始进行回放演示，如果检测到元件干涉时，系统将加亮干涉区域，并停止回放。（1）制作播放文件。回放结束后，系统弹出如图4.2.10所示的“动画”对话框，单击该对话框中的“捕获”按钮，再在弹出如图4.2.11所示的对话框中，单击“确定”按钮，即可生成一个*.mpg文件,该文件可以在其他软件(例如,WindowsMediaPlayer)中播放.（5）观测完运动后,单击如图所示的“动画”对话框中的“关闭”按钮。Step3.单击如图所示的“回放”对话框中的“关闭”按钮。图4.2.10图4.2.1134\n4工作装置运动仿真4.2.6测量使用“结果”菜单中的“测量”命令，可创建一个或多个分析测量特征，这类特征是用一个图形表示某个运动分析运行的测量结果。我们可以选择创建一个图形，对于一组运动分析结果显示多条测量曲线，或者也可以观察某一测量如何随不同的运动运行结果而改变。测量有助于理解和分析移动机械装置产生的结果，并提供可用来改进机械设计的信息。图4.2.12所示为本次设计中对举升臂连接轴进行运动学分析输出的曲线图。图中纵坐标为“速度”横坐标为“时间”图中曲线表示在不同时间举升臂连接轴的速度值。从图4.2.12中可看出举升臂连接轴在运动过程中速度基本与前边所设置的速度相吻合，但在到达最高工位、中间工位、和最低工位时因为铲斗的翻转会造成一定范围的波动，但波动不是很大，说明动臂能够平稳运动，所以基本满足要求。图4.2.12举升臂速度与时间曲线34\n4工作装置运动仿真生成4.2.12图示曲线的操作过程如下。Step1.选择“Mechanism(M)”中的“测量”命令。Step2.系统弹出如图4.2.13所示“测量结果”对话框，在该对话框中进行下列操作。图4.2.13图4.2.14（1）选取图形类型：单击“图形类型”区域中的，从弹出的下拉列表中选择“测量与时间”。（2）创建一个测量：单击创建测量图标，系统弹出如图4.2.14所示的“测量定义”对话框，在该对话框中进行下列操作。a.键入测量名字：在该对话框中的名字文本框中键入测量名字“举升臂连接轴速度与时间关系”。b.选择测量类型：单击“类型”区域中的，从弹出的下拉列表中选择“速度”。c.选取测量点：选取模型中的举升臂连接轴。d.选取评估方法：单击“评估方法”区域中的，从弹出的下拉列表中选择“每一时间步距”。e.单击“确定”按钮系统立即将新建测量添加到如图4.2.13所示的“测量结果”对话框中。（3）进行动态测量。a.选取测量名：在图4.2.13所示的“测量结果”对话框列表中，单击“举升臂连接轴速度与时间关系”。b.选取运动名c.单击测量启动命令图标：在图4.2.13所示的“测量结果”对话框的上部，单击测量启动命令图标。d.系统开始自动计算测量，并绘制出测量结果图4.2.12Step3.单击“测量结果”对话框中的“关闭”按钮。34\n4工作装置运动仿真图4.2.15铲斗连接轴速度与时间关系图4.2.15为对铲斗连接轴进行运动学分析输出的铲斗连接轴速度与时间的关系，纵坐标表示速度，横坐标表示时间。从图中可以看出铲斗在整个运动过程中速度与时间关系与前面所设定的值能够较好的吻合，说明铲斗连接轴满足设计要求。此图的生成方法与图4.2.12的生成方法基本相同。根据设计要求还能生成多种这样的测量结果曲线，方法基本相同，由于时间有限，本人不再作详细叙述。34\n5结论5结论近年来，液压传动在工程机械行驶驱动上的应用得到了长足的进步，但把发动机、液压传动系统和负载看成一个负荷驱动系统来研究其功率匹配特性，对采用行驶液压驱动系统的工程机械来说具有重要意义。仿真技术是一种崭新的产品开发方法，是多个相关学科领域交叉、集成的产物，是一种基于产品的计算机仿真模型的数字化设计方法。使设计师可在计算机上方便地确定、修改设计进程，逐步优化设计方案。通过运动仿真试验，还可节省建立试验台、安装测试设备和测试仪表等有关的费用，更快地确定影响设计方案性能的敏感参数，达到最优化设计目的。这样，可大大缩短设备研发周期，降低研制成本，提高设计质量和效率，为产品赢得了竞争优势。本文介绍了装载机的发展及前景，重点叙述了小型装载机运动仿真设计的全过程。详细说明了从零件建模到装配建模以及最终的运动仿真的过程。并且配有插图，使设计过程一目了然。文中内容基本完成了本次设计要求，达到了预期目的：Ø对装载机液压缸进行合理的选取。Ø设计确定装载机工作装置结构和零部件的基本结构Ø对装载机工作装置主要零部件进行静力学分析和强度分析Ø在Pro/ENGINEER软件中对装载机工作装置零件进行三维实体建模Ø在Pro/ENGINEER软件中实现装载机工作装置工作过程的运动仿真，并且对工作装置运动构件在运动过程中的运动协调关系、运动范围设计、可能的运动干涉检查等问题进行分析，并输出结果34\n6致谢6致谢经过几个多月的努力，我的毕业设计终于顺利完成,在这个令人充满兴奋和感激的时刻，四年大学求学生活即将结束了，而我又要开始新的征程了。这四年的生活将是我人生中一段难忘的经历，在这个过程中，有许多可亲可敬的人给了我最真诚的帮助，让我感激不已本论文是在敬爱的导师陈丰峰博士的悉心指导下完成的，其中渗透了陈老师大量的心血。与陈老师相处的一年中，我被陈老师渊博的知识、丰富的科研经验、严谨的工作态度深深感动了，陈老师一丝不苟的工作作风将使我终生难忘。在此,向陈老师致以我崇高的敬意，同时衷心的感谢陈老师对我的信任，关怀和帮助，另外我要感谢我的学弟唐新军给我工作的环境。感谢四年来各位恩师对我的辛勤栽培，同时感谢各位同窗，兄弟对我的关心和帮助；感谢我的父母和所有亲人多年来对我求学的支持与帮助。另外，由于本文作者的经验和知识水平有限，文中难免存在着错误和不足，敬请各位专家和老师批评指正，本人不胜的激。几个月的毕业设计生活，使我深深的认识到了自己的不足，看到了自己薄弱的一面，也使我懂得了许多，明白了许多。这些都将激励着我以后的生活和工作。作者：李书知2006.5.2034\n7参考文献7主要参考文献[1].李世国，李强，《Pro/ENGINEERWildfire中文范例教程》，机械工业出版社，2005.7.1[2].老虎工作室，谭雪松、谢正超、柳祖国，《Pro/ENGINEER2001中文版基础教程》，人民邮电出版社[3].高秀华、李贵亮、邓洪超、冯增铭《机械三维动态设计仿真技术——Pro/ENGINEER和Pro/MECHANICA应用》[4].方建军、刘仕良，《机械动态仿真与工程分析——Pro/ENGINEERWildfire工程应用》,化学工业出版社[5].于硕、闫涵，装载机工作装置的机构分析，《工程机械》2001年第8期[6].熊光明、龚建伟、陆际联、徐正飞，《机械设计》2003年12期[7].包金宇、廖文和、薛善良，虚拟样机技术初探，《机械制造与自动化》2003年06期[8].李伯虎，复杂产品虚拟样机技术的研究与实践[J]测控技术2001，20（11）[9].熊光楞等，虚拟样机技术[J]系统仿真学报，2000，13（1）[10].祁新梅，机械产品建摸技术研究现状及趋势[J]合肥工业大学学报2000，23（6）[11]．李军，孟红，张洪康，谷中丽，汽车悬架参数对操纵稳定性影响的仿真分析研究，车辆与动力技术，2001年04期[12].MinghungLINandLIchenFU.AVirtualfactorybasedapproachtoonlinesimulationandschedulingforanFMSandacasestudy[J]JournalofIntelligentManufacturing,2001,12:269-279[13].CarlosAVACandAhmedAJ.Virtualprototypingformodularandflexiblehardwaresoftwaresystems[J].DesignautomationforEmbeddedSystems,1997,2:26[14]高等学校试用教材，《工程机械》（下册），中国铁道出版社，1981年.北京[15]同济大学、重庆建筑工程学院、西安冶金建筑学院，《铲土运输机械》，中国建筑工业出版社[16]中国机械工程学会，中国机械设计大典编委会，《中国机械设计大典5》，江西科技出版社，200234\n8附表8附表电动机开始时间（秒）结束时间（秒）速度参数（A）（米／秒）ServoMotor翻斗100.6120ServoMotor举升1.69.610ServoMotor翻斗21.69.610ServoMotor翻斗310.612.750ServoMotor翻斗413.715.850ServoMotor下臂16.818.810ServoMotor翻斗516.818.810ServoMotor翻斗319.822.350ServoMotor翻斗423.325.850ServoMotor下臂26.832.810ServoMotor翻斗526.832.810ServoMotor翻斗633.834.4120注：本表中所列项目为本次运动仿真过程各个电动机设置的主要参数34\n8附表9JWKffwvG#tYM*Jg&6a*CZ7H$dq8KqqfHVZFedswSyXTy#&QA9wkxFyeQ^!djs#XuyUP2kNXpRWXmA&UE9aQ@Gn8xp$R#͑Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5ux^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmUE9aQ@Gn8xp$R#͑Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5uxY7JnD6YWRrWwc^vR9CpbK!zn%Mz849Gx^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vSTT#&ksv*3tnGK8!z89AmYWpazadNu##KN&MuWFA5ux^Gjqv^$UE9wEwZ#Qc@UE%&qYp@Eh5pDx2zVkum&gTXRm6X4NGpP$vS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