CN106169000A - A kind of turning bend guide and method for designing thereof - Google Patents

A kind of turning bend guide and method for designing thereof Download PDF

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CN106169000A
CN106169000A CN201610530165.9A CN201610530165A CN106169000A CN 106169000 A CN106169000 A CN 106169000A CN 201610530165 A CN201610530165 A CN 201610530165A CN 106169000 A CN106169000 A CN 106169000A
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track
radius
circular arc
trajectory
bank bridge
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CN106169000B (en
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陈龙
姚鸣
姚一鸣
韩文瑜
丁晓红
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University of Shanghai for Science and Technology
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University of Shanghai for Science and Technology
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    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00Computer-aided design [CAD]
    • G06F30/10Geometric CAD
    • G06F30/17Mechanical parametric or variational design

Abstract

A kind of turning bend guide that the present invention provides, low speed is turned by the multiple wheels for equipment by realization, there is inner track and outer side track, it is characterized in that: the inner side trajectory of inner track is helical segment, this helical segment is split two sections of camber lines of symmetry, this camber line is made up of the ever-reduced circular arc of multistage radius and circular arc ever-increasing with the radius that this circular arc is smoothly connected, the average line of the running orbit that outer tracks line is wheel pair of outer side track.This kind of turning bend guide can effectively reduce the radius of turn of bank bridge, thus reduce bank bridge and cross laying length and the floor space of curved track, is on the one hand conducive to bank bridge steady the most curved, on the other hand avoids employing bank bridge lateral movement mechanism.On the premise of ensureing safety, realize the lightness of bank bridge, reach to save bank bridge and rail mechanism material, reduce power consumption, the purpose of reduction harbour bank bridge cost, therefore have good Social and economic benef@.

Description

A kind of turning bend guide and method for designing thereof
Technical field
Present invention design belongs to transportation road engineering, particularly relates to a kind of transporting equipment with multiple wheel pair Turning bend guide that low speed is turned by realization and the method for designing of this guide rail.
Background technology
The change in orientation of guide rail route is the most curved, it is common that realized by circular arc bend.But bank bridge (is also called bank Limit container crane, bridge crane, be used to the equipment loaded and unloaded the container on boats and ships on bank), field bridge (heap goods area use Bridge-type haulage equipment, carry for internal field) etc. there is the transport crane gear of multiple wheel pair when crossing the most curved, due to outside car There is misaligned, trajectory error in wheel trajectory, thus present bank bridge in bend designs frequently with the large radius arc of whole section Reduce trajectory error so that it is trajectory error reaches allowed band.Although this whole section of circular arc curve design reduces bank The trajectory error of bridge outer side track, but owing to have employed large radius arc so that bank bridge bend track has excessive harbour Area and long bend track.If using too small circular arc, many groups wheel of crane can be made again going in orbit When sailing, wheel rim and track side surfaces severe crush and produce strong " gnawing rail " phenomenon.
Summary of the invention
The present invention solves arc radius the most inappropriate excessive and too small problem of the curved track of above-mentioned mistake, deduct a percentage one Planting turning bend guide and method for designing thereof, this turning bend guide can effectively reduce the radius of turn of bank bridge, thus reduce Laying length and the floor space of curved track crossed by bank bridge, sending out of phenomenon that the one side beneficially bank bridge curved minimizing of steady mistake " gnaws rail " Raw, on the other hand avoid employing bank bridge lateral movement mechanism.On the premise of ensureing safety, realize the lightness of bank bridge, reach joint Save bank bridge and rail mechanism material, reduce power consumption, the purpose of reduction harbour bank bridge cost.
A kind of turning bend guide that the present invention provides, low speed is turned by the multiple wheels for equipment by realization, has There are inner track and outer side track, it is characterised in that: the inner side trajectory of inner track is helical segment, and this helical segment is put down Being divided into two sections of camber lines of symmetry, this camber line is by the ever-reduced circular arc of multistage radius and continuous with the radius that this circular arc is smoothly connected The circular arc composition increased, the average line of the running orbit that outer tracks line is wheel pair of outer side track.
The turning bend guide that the present invention provides, it is also possible to have the feature that, it is characterised in that: wherein, helix Section camber line in the chord length corresponding to circular arc equal to multiple wheels between before and after wheelspan.
The turning bend guide that the present invention provides, it is also possible to have the feature that, it is characterised in that: wherein, at every section Circular arc in the camber line of helical segment has identical slope at the junction point of circular arc, has identical tangent line.
The present invention also provides for the method for designing of a kind of above-mentioned turning bend guide, it is characterised in that comprise the following steps:
Step one, first designs the inner side trajectory of the inner track of half, the inner side trajectory of the inner track of this half Design be divided into orthodrome design and small arc-shaped design;
Step 2, the great circle camber line from rectilinear orbit operation to arc orbit is designed by multiple wheels, then error analysis, Orbit Optimized;
Step 3, multiple wheels run the small arc-shaped design to small arc-shaped track to from orthodrome track, and then error is divided Analysis, Orbit Optimized;
Step 4, the inner side trajectory of second half inner track is by step one, the interior siding track of the half of two, three gained The inner side trajectory symmetry in road obtains, and two groups are combined into entirety and are the inner side trajectory of inner track;
Step 5, the average line of the running orbit that outer tracks line is wheel pair of outer side track, in combination step four Inner side trajectory i.e. obtains the trajectory of turning bend guide.
The method for designing of the turning bend guide that the present invention provides, it is also possible to have the feature that, it is characterised in that: step First large circular arc radius R in rapid two1Determination method be:
An any given R being not less than the wheel minimum orbit radius to running1' value, obtain difference according to Δ X-X=A Value A, Δ X are the permission trajectory error of wheel pair, and X is trajectory error, it is judged that difference A and the magnitude relationship of 0,
If A < 0, then increased radius R1New R is obtained after '1', repeat above-mentioned judgement step, until A=0,
If A > 0, then reduce radius R1New R is obtained after '1', repeat above-mentioned judgement step, until R1' run equal to chassis Minimum orbit radius or A=0,
If A=0, directly determine given R1' it is first large circular arc radius R1
The method for designing of the turning bend guide that the present invention provides, it is also possible to have the feature that, it is characterised in that: step N-th small arc-shaped radius R in rapid threenDetermination method be:
S3-1, an any given R being not less than the wheel minimum orbit radius to runningn' value, ask according to Δ X-X=A Going out difference A, Δ X is the permission trajectory error of wheel pair, and X is trajectory error, it is judged that difference A and the magnitude relationship of 0,
If A < 0, then increased radius RnNew R is obtained after 'n', repeat above-mentioned judgement step, until A=0,
If A > 0, then reduce radius RnNew R is obtained after 'n', repeat above-mentioned judgement step, until Rn' run equal to chassis Minimum orbit radius or A=0,
If A=0, directly determine given Rn' it is the n-th small arc-shaped radius R;
S3-2, it is judged that above-mentioned radius RnThe position of circular arc whether beyond the design crank degree of turning bend,
If exceeding, abandon RnSection circular arc uses Rn-1Section circular arc is as the circular arc of least significant end, and terminates,
If without departing from, confirm RnSection circular arc, makes n=n+1 operating procedure S3-1.
Invention effect and effect
According to turning bend guide provided by the present invention, the present invention with Fibonacci helix as prototype, the one of design Kind Fibonacci helix, the curve being made up of the one section one section ever-reduced circular arc of radius is to arrange the one of inner track Half, second half of inner track is obtained by balanced method, and being calculated by inner track of outer side track is obtained.This method for designing can Effectively reduce the radius of turn of bank bridge, thus reduce bank bridge and cross laying length and the floor space of curved track, the most favourable Steady the most curved in bank bridge, on the other hand avoid employing bank bridge lateral movement mechanism.Bank bridge is realized on the premise of ensureing safety Lightness, reaches to save bank bridge and rail mechanism material, reduce power consumption, the purpose of reduction harbour bank bridge cost, therefore has Good Social and economic benef@.
Crossing curved used concentric circular arc track than existing bank bridge, method for designing of the present invention is by analysis conventional Large radius arc bend, according to given parameter, bank bridge one-level equalizer bar wheel base a, sea route both sides wheelspan b, trajectory error The maximum Δ X allowed, determines that the radius of the class Fibonacci helix mean camber line section maximum radius circular arc that the present invention designs is R, each small-radius arc radius is Rn.Method for designing mainly by controlling the trajectory error of outer side track, allows error keep On the premise of in the range of permissible value, constantly reduce the radius of turn of inside bend, reach the final purpose of design.
Accompanying drawing explanation
Fig. 1 is bank bridge running gear structure diagram;
Fig. 2 is great circle camber line design flow diagram of the present invention;
Fig. 3 is that rectilinear orbit of the present invention is to orthodrome track motion schematic diagram;
Fig. 4 is that straight line of the present invention is to great circle segmental arc outer tracks schematic diagram;
Fig. 5 is roundlet camber line design flow diagram of the present invention;
Fig. 6 is that orthodrome track of the present invention is to small arc-shaped track motion schematic diagram;
Fig. 7 is secondary segment circular arc outer tracks line chart of the present invention;
Fig. 8 is 45 ° of transient error analysis charts of turning bend guide of the present invention;
Fig. 9 is that the turning bend guide of the present invention is less than 45 ° of transient error analysis charts;And
The turning bend guide that Figure 10 designs for the present invention and concentric circular arc track comparison diagram.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, real below Execute example to combine accompanying drawing and the curricula based on color characteristic of the present invention is recorded the control method from motion tracking photographic head and takes the photograph As the principle steps of head and structure, using effect are specifically addressed.
The first step: case study, curved problem crossed by segmentation track.
Fig. 1 is bank bridge running gear structure diagram.
The curved problem of mistake of research bank bridge, the actually curved problem of mistake of minimum running unit during research bank bridge running gear. Bank bridge running gear, as it is shown in figure 1, running gear completes curve track walking function by perpendicular hinge shaft, is put down by horizontal hinge shaft Weigh the wheel tire pressure of each wheel.Obtaining by analysis, the minimum running unit of bank bridge is two-wheel chassis, then bank bridge cross curved problem can It is converted into the curved problem of mistake of minimum running unit.
If bank bridge one-level equalizer bar wheel base is a, outside and nearside wheel are away from for b.The curved track of the whole mistake of bank bridge is due to right Claim, whole bank bridge can be crossed bend through journey can dimidiation, first design the inner track of half, second half is drawn by symmetry.One In the inner track design of half, it is broadly divided into two Main Stage:
1) bank bridge one-level equalizer bar runs to arc orbit (i.e. orthodrome orbit Design) from rectilinear orbit.
2) bank bridge one-level equalizer bar runs to small arc-shaped track (design of the most secondary arc orbit) from orthodrome track.
Second step, first stage orthodrome orbit Design.
Fig. 2 is great circle camber line design flow diagram of the present invention.
Fig. 3 is that rectilinear orbit of the present invention is to orthodrome track motion schematic diagram.
Design flow diagram is as shown in Figure 2.
1, bank abutment car moves to arc orbit from rectilinear orbit, can design first large circular arc radius R of whole section of track, Design process is as follows:
First, it is assumed that the inner track that radius is R (the minimum orbit radius that R runs not less than chassis), outside it Track can be obtained according to calculated as below, and design sketch is as shown in Figure 3.Secondly, according to the outer side track track obtained, can be according to as follows Trajectory error X is obtained in calculating.Then, obtain bank bridge and allow difference A (the Δ X-X=of trajectory error Δ X and planned course error X A), by following situation, the scope of A is discussed, finally determines radius R.
1) if A < 0, then increased radius R, repeat the above steps, until A=0, now radius R is determined.
2) if A > 0, then radius R, repeat the above steps are reduced, until R is equal to the minimum orbit radius i.e. R=of chassis operation Rmin or A=0, determines now radius R.
3) if A=0, directly determine that R is first large circular arc radius.
2.1 outer side track tracks and the calculation of error X:
2.1.1 outer side track track seeks method
First by known quantity, calculate the coordinate figure of each period outboard wheels in bank bridge motor process, determine each period Outboard wheels present position, then by connecting each position, obtain the track of whole process, after track is obtained, take it Average line, is final curves, namely outer side track.
Circular is as follows:
Orthodrome orbit radius R inside known supposition, bank bridge one-level equalizer bar wheel base a, sea route wheelspan b, draw work Cheng Tu, as shown in Figure 3.
In figure, ABB ' A ' is the original state that bank bridge one-level equalizer bar moves to orthodrome track from rectilinear orbit, BDD ' C " For final state, A ' C ' is A ' some movement locus during whole, and B ' D ' is B ' some movement locus during whole. After track is obtained, take its average line, be final curves, namely outer side track.
A ' C ' section moving track calculation mode: from the figure 3, it may be seen that A ' C ' section is constantly to be moved by A ' point to be formed, when obtaining each Section A ' coordinate, just can obtain whole section of track of A ' C '.
A ' some motion mode is compound motion, can be decomposed into: 1. A ' starts to do, around A point, the circular motion that radius is B, The angle rotated is α, and 2. A point is along the linear motion in AB direction.Following for A ' point trajectory equation circular.
If A point coordinates is (X, Y), its equation in coordinates is
X = &lsqb; - a , 0 &rsqb; Y = R - - - ( 1 )
If A ' point coordinates is for being (X1, Y1), the equation of its coordinate is
X 1 = X + b cos ( &pi; 2 - &alpha; ) Y 1 = Y + b sin ( &pi; 2 - &alpha; ) - - - ( 2 )
Wherein
I.e.
X 1 = X + b sin ( arcsin a - | X | 2 R ) Y 1 = Y + b cos ( arcsin a - | X | 2 R ) - - - ( 4 )
B ' D ' section moving track calculation mode: from the figure 3, it may be seen that B ' D ' section is constantly to be moved by B ' point to be formed, when obtaining each Section B ' coordinate just can obtain whole section of track of B ' D '.
B ' some motion mode is compound motion, can be decomposed into: 1. B ' starts to do, around B point, the circular motion that radius is b, Rotate angle be α, 2. B point with O as the center of circle, R move in a circle for radius, the angle turned over is 2 α.Following for the B ' locus of points Circular.
If B point coordinates is that (x, y), its equation in coordinates is
x = R c o s ( &pi; 2 - 2 &alpha; ) y = R s i n ( &pi; 2 - 2 &alpha; ) - - - ( 5 )
I.e.
x = R sin ( 2 arcsin a - | X | 2 R ) y = R cos ( 2 arcsin a - | X | 2 R ) - - - ( 6 )
If B ' point coordinates is (x1, y1), then its equation of locus is
x 1 = x + b c o s ( &pi; 2 - &alpha; ) y 1 = y + b s i n ( &pi; 2 - &alpha; ) - - - ( 7 )
I.e.
x 1 = R sin ( 2 arcsin a - | x | 2 R ) + b sin ( arcsin a - | x | 2 R ) y 1 = R cos ( 2 arcsin a - | x | 2 R ) + b cos ( arcsin a - | x | 2 R ) - - - ( 8 )
2.1.2 the solving of error X
Fig. 4 is that straight line of the present invention is to great circle segmental arc outer tracks schematic diagram.
In above-mentioned steps, by outer tracks equation solution out, A ' C ' section and B ' D ' section institute in path such as Fig. 4 Show.From in figure, outer side track trajectory error, initially form from A ' point, and the track after C ' point is formed by next section, so This section of outer tracks is A ' C ' and A ' C " average line, trajectory error value X=1/2 (A ' C '-A ' C ") max (X is A ' C ' section and A ' C " The maximum of section difference).
Finally by compare difference X and size, according to flow chart double counting, final confirm large circular arc radius R.
3rd step: second stage time arc orbit design.
Fig. 5 is roundlet camber line design flow diagram of the present invention.
Fig. 6 is that orthodrome track of the present invention is to small arc-shaped track motion schematic diagram.
Bank bridge is run to small arc-shaped track by orthodrome track, can design the inner side after first paragraph arc orbit each The radius of secondary arc orbit, design process is as follows:
First, it is assumed that the inner track that radius is Rn (the minimum orbit radius that Rn runs not less than chassis), outside it Siding track can be obtained according to graphing method, such as Fig. 6.Secondly, according to the outer side track track obtained, trajectory error X can be obtained.So After, obtain bank bridge and allow difference A (Δ X-X=A) of trajectory error Δ X and planned course error X.By following situation, A is discussed Scope, finally determine radius R.
1) if A < 0, then increased radius Rn, repeat the above steps, until A=0, now radius Rn is determined.
2) if A > 0, then radius Rn, repeat the above steps are reduced, until the minimum orbit radius that Rn runs equal to chassis is Rn=Rmin or A=0, determines now radius Rn.
3) if A=0, directly determine that Rn is time arc orbit radius.
Finally, by comparing the position that radius is Rn circular arc, it is determined whether continue next section of circular arc of design and still complete to set Count and terminate, as shown in Figure 5.
3.1 outer side track Trajectory Design and the calculation of error X:
3.1.1 outer side track track seeks method
First by known quantity, calculate the coordinate figure of each period outboard wheels in bank bridge motor process, determine each period Outboard wheels present position, then by connecting each position, obtain the track of whole process, after track is obtained, take it Average line, is final curves, namely outer side track.Circular is as follows.
Known inner side orthodrome orbit radius R, it is assumed that small arc-shaped orbit radius is Rn bank bridge one-level equalizer bar wheel base A, sea route wheelspan b, draw engineering drawing, as shown in Figure 6.
In figure, CDC ' D ' is the original state that bank bridge one-level equalizer bar moves to orthodrome track from rectilinear orbit, DFF ' E ' For final state, C ' E ' is C ' some movement locus during whole, and D ' F ' is D ' some movement locus during whole.
C ' E ' section moving track calculation mode: it will be appreciated from fig. 6 that C ' E ' section is to have C ' to put formation of constantly moving, when obtaining each Section C ' coordinate just can obtain whole section of track of C ' E ', and concrete calculating process is as follows:
If C point coordinates is (X2, Y2), CO and Y-axis angle are γ, γ ∈ [0,2 α] (variable),
X 2 = R c o s ( &pi; 2 - &gamma; ) Y 2 = R s i n ( &pi; 2 - &gamma; ) - - - ( 9 )
If O ' coordinate is (Xo ', Yo '), the coordinate figure that O ' puts is obtained by formula (10)
Xo &prime; = ( R - R n ) s i n 2 &alpha; Yo &prime; = ( R - R n ) cos 2 &alpha; &alpha; = arcsin a 2 R - - - ( 10 )
If the coordinate of D is (X3, Y3), coordinate figure is obtained by formula (11).
It is that a, D point is being justified on DO ' F by D point C point distance, D point coordinates can be drawn.
{ ( X 3 - X 2 ) 2 + ( Y 3 - Y 2 ) 2 = a 2 ( X 3 - Xo &prime; ) 2 + ( Y 3 - Yo &prime; ) 2 = Rn 2 - - - ( 11 )
Can be obtained two solutions by above-mentioned equation, two solutions are symmetrical about straight line CO ', take the point that abscissa is big.
If C ' point coordinates value is (x2, y2), coordinate figure is obtained by formula (12).
By C ' point away from C point distance for b with D point distance it isCoordinate occurrence can be obtained.
( x 2 - X 2 ) 2 + ( y 2 - Y 2 ) 2 = b 2 ( x 2 - X 3 ) + ( y 2 - Y 3 ) 2 = a 2 + b 2 - - - ( 12 )
Can be obtained two solutions by above-mentioned equation, two solutions are symmetrical about straight line CD, take the point that abscissa is big.
D ' F ' section moving track calculation mode: it will be appreciated from fig. 6 that D ' F ' section is to have D' point constantly to move formation, when obtaining each Section D ' coordinate just can obtain whole section of track of D ' F ', and concrete calculating process is as follows:
If D ' point coordinates is (x3, y3), obtain by formula (13).
By D ' point away from D point distance for b with C point distance it isCoordinate occurrence can be obtained by formula (13).
( x 3 - X 3 ) 2 + ( y 3 - Y 3 ) 2 = b 2 ( x 3 - X 2 ) 2 + ( y 3 - Y 2 ) 2 = a 2 + b 2 - - - ( 13 )
Can be obtained two solutions by above-mentioned equation, two solutions are symmetrical about straight line CD, take the point that abscissa is big.
Owing to CO and Y-axis angle are γ, constantly increase in bank bridge motor process, along with the change of γ angle, C, D, C ', The coordinate figure of D ' is also continually changing, and thus outer tracks line C ' E, D ' F just can obtain.Then take its average line, be final Curve, namely outer side track.
3.1.2 the solving of error Xn
Fig. 7 is secondary segment circular arc outer tracks line chart of the present invention.
In above-mentioned steps, solve out by outer tracks, in path such as Fig. 7 shown in C ' E ' section and D ' F ', by Understanding in figure, outer side track trajectory error, from C ', C " point initially forms (C " D ' trajectory obtained for last minute), and E ' point after track formed by next section, so this section of outer tracks is C ' E ' and C " E " and average line, trajectory error value Xn=1/2 (C ' E '-C " E ") max (X is C ' E ' section and C " E " maximum of section difference).
Finally by comparing the size of difference X and Δ X, according to flow chart double counting, final confirm time arc radius Rn.
3.1.3 the arc position manner of comparison with Rn as radius:
D point F point coordinates (representing the bank bridge position completely into secondary radius arc track) can be obtained by above-mentioned steps, permissible Obtaining the angle of DF neutrality line and Y-axis, comparable situation has 3 kinds may.
45 °, determine this section of arc orbit radius Rn, and continue to design secondary segment arc radius Rn+1.
2) angle=45 °, determine this section of arc orbit radius Rn, using F point as terminal, complete whole orbit Design, separately Half track is obtained by DF neutrality line is done title method.
3) angle > 45 °, give up this section of circular arc, using the preceding paragraph circular arc (radius circular arc as Rn-1) as minimum circular arc Orbit radius, the design of track after completing, remaining track is tried to achieve by balanced method.
3.1.4 the comparison of orbit error at outer side track symmetric coupling
Outer side track altogether can be in two kinds of situation at the track of seam.
The first: in above-mentioned 3.1.3 2) situation: during angle=45 °, outer side track now is as shown in Figure 8.
Fig. 8 is 45 ° of transient error analysis charts of turning bend guide of the present invention.
In Fig. 8, E ' E " ' track is by E " F ' is sent out by symmetry and tries to achieve, namely some E ' is at the path of seam, by above-mentioned meter Calculation process, it can be deduced that track E " F ' is one section of curve constantly approached to circle E ' O ' F ', so E " F ' be one section constantly away from The curve of circle E ' O ' F ', its maximal clearance error is E ' E " length, and E ' E " less than or equal to Xn.So seam meets the requirements.
Fig. 9 is that the turning bend guide of the present invention is less than 45 ° of transient error analysis charts.
The second: in above-mentioned 3.1.3 3) situation: < when 45 °, outer side track now is as shown in Figure 9 for angle.
From 9 figures in like manner, E " F ' G ' H ' and E ' F ' G ' H " between maximal clearance error amount be E ' E " length, be less than In Xn, so interface also complies with requirement.
4th step: the determination of last turn.
Curved last turn crossed by bank bridge, by a section inner track, outer side track calculated by above-mentioned steps, is formed by connecting, As shown in Figure 9.
The turning bend guide that Figure 10 designs for the present invention and concentric circular arc track comparison diagram.
Curved track crossed by the bank bridge gone out designed by above-mentioned steps can greatly reduce bank compared to traditional curved track of mistake The radius of turn that bridge is the most curved, as shown in Figure 10.
In Figure 10, A is that the tight turn radius designed by step of the present invention crosses curved track schematic diagram, and B is by being used now Big radius of turn crossed track schematic diagram.Can be found intuitively by Figure 10, use the turning bend guide that the present invention provides A, under same angle of turn (in figure being 90 °), shared area and the wheel the most traditional the turning greatly of distance to walking Curved radius track is much smaller, and i.e. in the case of same turning, the site area taken is little, and the vehicle pass-through time contracts the most accordingly Short, thus cost-effective raising Port Economic benefit.
The effect of embodiment and beneficial effect
The turning bend guide provided according to the present embodiment, the present invention with Fibonacci helix as prototype, design One kind Fibonacci helix, the curve being made up of the one section one section ever-reduced circular arc of radius is to arrange the one of inner track Half, second half of inner track is obtained by balanced method, and being calculated by inner track of outer side track is obtained.This method for designing can Effectively reduce the radius of turn of bank bridge, thus reduce bank bridge and cross laying length and the floor space of curved track, the most favourable Steady the most curved in bank bridge, on the other hand avoid employing bank bridge lateral movement mechanism.Bank bridge is realized on the premise of ensureing safety Lightness, reaches to save bank bridge and rail mechanism material, reduce power consumption, the purpose of reduction harbour bank bridge cost, therefore has Good Social and economic benef@.
Crossing curved used concentric circular arc track than existing bank bridge, method for designing of the present invention is by analysis conventional Large radius arc bend, according to given parameter, bank bridge one-level equalizer bar wheel base a, sea route both sides wheelspan b, trajectory error The maximum Δ X allowed, determines that the radius of the class Fibonacci helix mean camber line section maximum radius circular arc that the present invention designs is R, each small-radius arc radius is Rn.Method for designing mainly by controlling the trajectory error of outer side track, allows error keep On the premise of in the range of permissible value, constantly reduce the radius of turn of inside bend, reach the final purpose of design.
Further, the turning bend guide that the present invention provides, under same angle of turn, shared area are used Much smaller to the big radius of turn track that the distance of walking is the most traditional with wheel, i.e. in the case of same turning, take Site area is little, and the vehicle pass-through time shortens the most accordingly, thus cost-effective raising Port Economic benefit.

Claims (6)

1. a turning bend guide, low speed is turned by the multiple wheels for equipment by realization, has inner track with outer Siding track, it is characterised in that:
The inner side trajectory of inner track is helical segment, this helical segment be split symmetry two sections of camber lines, this camber line by The ever-reduced circular arc of multistage radius and circular arc ever-increasing with the radius that this circular arc is smoothly connected composition,
The average line of the running orbit that outer tracks line is described wheel pair of outer side track.
Turning bend guide the most according to claim 1, it is characterised in that:
Wherein, the chord length corresponding to circular arc in the camber line of described helical segment equal to multiple wheels between before and after wheelspan.
Turning bend guide the most according to claim 1, it is characterised in that:
Wherein, the circular arc in the camber line of helical segment every section described has identical slope at the junction point of circular arc, has Identical tangent line.
4. the method for designing of the turning bend guide of any one in a kind such as claim 1-3, it is characterised in that include following Step:
Step one, first designs the inner side trajectory of the inner track of half, setting of the inner side trajectory of the inner track of this half Score and design for orthodrome and small arc-shaped design;
Step 2, the great circle camber line from rectilinear orbit operation to arc orbit is designed by multiple described wheels, then error analysis, Orbit Optimized;
Step 3, multiple described wheels run the roundlet camber line design to small arc-shaped track to from described orthodrome track, then Error analysis, Orbit Optimized;
Step 4, the inner side trajectory of second half inner track passes through the inner track of the half of step one, two, three gained Inner side trajectory symmetry obtains, and two groups are combined into entirety and are the inner side trajectory of described inner track;
Step 5, the average line of the running orbit that outer tracks line is described wheel pair of outer side track, in combination step four Described inner side trajectory i.e. obtains the trajectory of described turning bend guide.
The method for designing of turning bend guide the most according to claim 4, it is characterised in that:
First large circular arc radius R in step 21Determination method be:
An any given R being not less than the described wheel minimum orbit radius to running1' value, obtain difference according to Δ X-X=A A, Δ X are the permission trajectory error of described wheel pair, and X is trajectory error, it is judged that difference A and the magnitude relationship of 0,
If A < 0, then increased radius R1New R is obtained after '1', repeat above-mentioned judgement step, until A=0,
If A > 0, then reduce radius R1New R is obtained after '1', repeat above-mentioned judgement step, until R1' run equal to chassis Baby track radius or A=0,
If A=0, directly determine given R1' it is first large circular arc radius R1
6. the method for designing of turning bend guide described in 4 is wanted according to right, it is characterised in that:
N-th small arc-shaped radius R in step 3nDetermination method be:
S3-1, an any given R being not less than the described wheel minimum orbit radius to runningn' value, ask according to Δ X-X=A Going out difference A, Δ X is the permission trajectory error of described wheel pair, and X is trajectory error, it is judged that difference A and the magnitude relationship of 0,
If A < 0, then increased radius RnNew R is obtained after 'n', repeat above-mentioned judgement step, until A=0,
If A > 0, then reduce radius RnNew R is obtained after 'n', repeat above-mentioned judgement step, until Rn' run equal to chassis Baby track radius or A=0,
If A=0, directly determine given Rn' it is the n-th small arc-shaped radius R;
S3-2, it is judged that above-mentioned radius RnThe position of circular arc whether beyond the design crank degree of described turning bend,
If exceeding, abandon RnSection circular arc uses Rn-1Section circular arc is as the circular arc of least significant end, and terminates,
If without departing from, confirm RnSection circular arc, makes n=n+1 operating procedure S3-1.
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CN201980230U (en) * 2011-03-03 2011-09-21 李诗平 Rail type traffic system
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