CN113010968B - Bogie modeling system and method based on CATIA software and storage - Google Patents
Bogie modeling system and method based on CATIA software and storage Download PDFInfo
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Abstract
The invention discloses a bogie kinematic modeling system and method based on CATIA software and a memory, wherein the method comprises the steps of constructing a framework component model and a component model with relative motion relation with respect to a framework; matching kinematic pairs for the connection positions of each component model and the framework assembly model according to a prestored space degree of freedom formula df =6*n-k1-k2= 0; loading corresponding motion parameters on at least one of each component model and the framework component model, and simulating the motion trail of corresponding parts of the bogie; the bogie is split into the driving part and the driven part, the actual relative motion is simulated by defining the kinematic pairs of each connecting point, and the spatial freedom formula for calculating each component is redefined, so that the bogie model is established by CATIA software and the bogie motion space simulation is realized.
Description
Technical Field
The invention relates to the technical field of bogie motion simulation, in particular to a bogie modeling system and method based on CATIA software and a memory.
Background
With the development of computer technology, the automation of production process shows a trend of accelerating development, currently, the software used in the process of designing the railway vehicle by each company is different, most companies design each part of the railway vehicle based on CAD software, basically show the parts in two dimensions, and show no specific way for the relative position of each component with relative motion when in motion.
Current simulation software can also only simulate dynamic simulations of two parts with simple relative displacement, such as translational, rotational, meshing movements. Relative motion is relatively many parts for the bogie, and complicated motions such as turning are included in addition to translation and rotation.
Therefore, how to realize dynamic simulation of the bogie and further guide the early design is a goal that is always pursued by the skilled person in the art.
Disclosure of Invention
The invention aims to provide a bogie kinematic modeling method based on CATIA software, which can realize dynamic simulation of a bogie. In addition, the invention also aims to provide a system with a bogie kinematic modeling method based on CATIA software.
The invention provides a bogie kinematics modeling method based on CATIA software, which comprises the following steps:
constructing a framework component model and a component model with relative motion relation to a framework; the framework component model comprises a framework and parts fixed in relative positions with the framework;
according to a prestored space degree of freedom formula df =6*n-k1-k2=0, matching kinematic pairs for connection between parts in each component model, connection between each component model and the framework assembly model, and connection between each component model and the framework assembly model and a vehicle body;
loading corresponding motion parameters on at least one of the component models and the component model to simulate the motion trail of corresponding parts of the bogie;
wherein df is the degree of freedom of the space of the movement mechanism, and n is the number of parts; k1 is the kinematic pair constraint freedom number; k2 is the number of kinematic pair driving degrees of freedom.
The invention splits the bogie into two parts: the method is characterized in that a framework component model which does not move with a framework and component models which move with the framework are defined, the actual relative movement is simulated by defining the kinematic pairs of connecting points, and the spatial freedom formula for calculating the components is redefined, so that the bogie kinematics model is established by using CATIA software and the dynamic simulation of the bogie is realized. The method has milestone significance in the aspect of bogie dynamic simulation.
Optionally, a fixed coordinate system, a first coordinate system and a second coordinate system are created in advance, and an X axis, a Y axis and a Z axis of the fixed coordinate system, the first coordinate system and the second coordinate system are parallel; simulating the connection of the truss assembly model and the second coordinate system by using a cylindrical pair so as to realize the rotation of the truss assembly model around the Z axis of the fixed coordinate system and the translation along the Z axis;
simulating the connection of the second coordinate system and the first coordinate system by using a cylindrical pair so as to realize the rotation of the second coordinate system around the Y axis of the first coordinate system and the translation along the Y axis;
and simulating the connection of the first coordinate system and the fixed coordinate system by using a cylindrical pair so as to realize the rotation of the first coordinate system around the X axis of the fixed coordinate system and the translation along the X axis.
Optionally, the component model comprises a shock absorber model, the shock absorber model comprises a first mounting seat with a first node, a second mounting seat with a second node, a telescopic rod and an outer cylinder, wherein the fixed connection of the first mounting seat and the framework is simulated through a fixed connection pair; the universal shaft pair is used for simulating a connection pair of a first node of the first mounting seat and the telescopic rod, the cylindrical pair is used for simulating connection of the telescopic rod and the outer barrel, the universal shaft pair is used for simulating connection of the outer barrel and a second node of the second mounting seat, and the fixed connection of the second mounting seat and the vehicle body is simulated through the fixed connection pair.
Optionally, the component model includes an automatic height adjustment device model, which at least includes an adjustment rod, and the connection between the two ends of the adjustment rod and the corresponding components is simulated by a spherical pair and a cardan shaft pair respectively.
Optionally, the automatic height adjusting device model further comprises an insulation can, an upper ball head, a lower ball head and a lever, wherein the insulation can is connected with the vehicle body through a fixed connection pair, the lever is connected with the insulation can through a rotating pair, the upper ball head is connected with the lever through a fixed connection pair, the upper ball head is connected with the adjusting rod through a spherical pair, the lower ball head is connected with the adjusting rod through a universal shaft pair, and the lower ball head is connected with the framework through a fixed connection pair.
Optionally, the parts in the framework component model include wheels, a driving device fixedly mounted on the framework, a brake clamp, and a part mounting seat, and the connection relationship between each part and the framework is simulated by a fixed connection pair.
In addition, the invention also provides a bogie kinematic modeling system based on CATIA software, and the bogie kinematic modeling system stores any one of the bogie kinematic modeling methods based on CATIA software.
In addition, the invention also provides a memory, which comprises a storage body, wherein the storage body is loaded with the bogie modeling system based on the CATIA software.
The bogie kinematic modeling system based on the CATIA software and the memory are provided with the bogie kinematic modeling method based on the CATIA software, so the bogie kinematic modeling system based on the CATIA software and the memory also have the technical effect of the bogie kinematic modeling method based on the CATIA software.
Drawings
FIG. 1 is a schematic structural diagram of a truck kinematics modeling method based on CATIA software according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of coordinate building of a framework component model according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a model of a shock absorber in accordance with an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a model of an automatic height adjusting apparatus according to an embodiment of the present invention.
Wherein in fig. 2 to 4:
10, constructing a component model; 11 a framework; 21 a first mounting seat; 22 a second mounting seat; 23, telescoping a rod; 24 an outer barrel; 31 an adjusting rod; 32 a heat preservation box; 32, arranging a ball head; 33, a ball head is arranged; 34 lever.
Detailed Description
In order to realize dynamic simulation of the bogie, the movement of the bogie is intensively studied, and the movement of the bogie is found to comprise:
1. the framework has both translational motion along the X, Y, Z axis in space and rotational motion about these three axes;
2. a node at one end of a shock absorber mounted on the framework moves along with the framework, a node at one end is fixed with the vehicle body, a telescopic rod and an outer cylinder in the shock absorber respectively rotate and swing around the two nodes, and relative translational motion exists between the telescopic rod and the outer cylinder;
3. two ends of an adjusting rod in the automatic height adjusting device freely rotate around the corresponding ends when working.
The bogie modeling method provided by the invention is based on CATIA software, and a motion mechanism module of the current CATIA software can also carry out simulation on a motion mechanism, but motion space simulation of simple structures such as translation motion along a certain axis, rotation motion around a certain axis, free rotation motion around a certain point, gear meshing motion and the like is also limited, so that the bogie modeling method cannot be applied to complex motion of a bogie, particularly motion of a shock absorber and an adjusting rod.
In order to make the technical solutions of the present invention better understood, the present invention is further described in detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1 to 4, fig. 1 is a schematic structural diagram of a truck kinematics modeling method based on CATIA software according to an embodiment of the present invention; FIG. 2 is a schematic diagram of coordinate building of a framework component model according to an embodiment of the present invention; FIG. 3 is a schematic diagram of a model of a shock absorber in accordance with an embodiment of the present invention; fig. 4 is a schematic structural diagram of a model of an automatic height adjusting apparatus according to an embodiment of the present invention.
The invention provides a CATIA software-based bogie kinematic modeling method, wherein a bogie comprises a framework, a part which is fixedly connected to the framework and does not move relative to the framework, and a member which moves relative to the framework, wherein the whole formed by the framework and the part which is fixedly connected to the framework and does not move relative to the framework is defined as a framework assembly.
The bogie kinematic modeling method based on CATIA software provided by the invention comprises the following steps:
s1, constructing a framework component model 10 and a component model with relative motion relation with a relative framework; wherein, as mentioned above, the frame assembly model 10 includes a frame and parts fixed relative to the frame, and the component model includes at least one of a shock absorber model, an automatic height adjustment device model or other assembly models moving relative to the frame; of course, the type of component model is not limited to the description herein.
S2, according to a prestored space degree of freedom formula df =6*n-k1-k2=0, connecting parts in each component model, connecting each component model with the framework assembly model 10 and connecting and matching kinematic pairs between each component model and the framework assembly model 10 and the vehicle body;
s3, loading corresponding motion parameters on at least one of the component models and the framework component models 10, and simulating the motion trail of corresponding parts of the bogie;
wherein df is the degree of freedom of the space of the movement mechanism, and n is the number of parts; k1 is the kinematic pair constraint freedom number; k2 is the number of kinematic pair driving degrees of freedom. If the cylindrical pair can drive the rotation and translation freedom degrees along the cylindrical axis, other 4 freedom degrees are restrained.
The invention splits the bogie into two parts: the simulation method is quick and accurate, and the simulation result can be used for guiding the early-stage design of the bogie, improving the accuracy of the bogie design and further improving the overall performance of the railway vehicle. This has milestone significance in bogie dynamic simulation.
Parts in the framework component model 10 comprise wheels, a driving device fixedly mounted on the framework, a brake clamp and a part mounting seat, and the connection relation between each part and the framework is simulated by adopting a fixed connection pair.
The modeling method is further improved by the invention in order to realize the simulation of the multi-motion posture of the framework component model 10.
In a specific embodiment, the bogie kinematic modeling method based on the CATIA software further includes:
a fixed coordinate system, a first coordinate system and a second coordinate system are created in advance, and the X axis, the Y axis and the Z axis of the fixed coordinate system, the first coordinate system and the second coordinate system are parallel; simulating the connection of the framework component model 10 and a second coordinate system by using the cylindrical pair to realize the rotation of the framework component model 10 around the Z axis of the fixed coordinate system and the translation along the Z axis;
simulating the connection of the second coordinate system and the first coordinate system by using the cylindrical pair to realize that the second coordinate system rotates around the Y axis of the first coordinate system and translates along the Y axis;
the connection of the first coordinate system to the fixed coordinate system is simulated using the cylindrical pair to achieve rotation of the first coordinate system about the X-axis of the fixed coordinate system and translation along the axis.
It should be noted that a cylindrical pair means that two members can both rotate along a common axis and slide along this axis like a prismatic pair, and the creation element of the created cylinder is the joint axis of the two members.
As can be seen from the above description, three coordinate systems are defined in the frame component model 10, and by defining kinematic pairs for any two of the three coordinate systems, six-degree-of-freedom translational and rotational movements of the frame component model around the X-axis, the Y-axis, and the Z-axis of the fixed coordinate system can be achieved, which is simple and has a relatively high simulation speed.
In another embodiment, the damper model may include a first mounting seat 21 having a first node, a second mounting seat 22 having a second node, a telescopic rod 23 and an outer cylinder 24, wherein the fixed connection of the first mounting seat 21 with the frame is simulated by a fixed connection pair; the connection between the first node of the first mounting seat 21 and the telescopic rod 23 is simulated through the universal shaft pair, the connection between the telescopic rod 23 and the outer cylinder 24 is simulated through the cylindrical pair, the connection between the outer cylinder 24 and the second node of the second mounting seat 22 is simulated through the universal shaft pair, and the fixed connection between the second mounting seat 22 and the vehicle body is simulated through the fixed connection pair.
It should be noted that the fixed connection pair described herein is a connection pair having no relative movement between two members and zero degree of freedom. The universal shaft pair is formed by connecting two components in a crossed axis combination mode, and the creation elements of the universal shaft pair are generally mutually perpendicular axes belonging to different components.
The vibration damper model is reasonably established, and the spatial freedom degree of the vibration damper model can be zero by combining a spatial freedom degree formula df =6*n-k1-k2, so that the vibration damper motion is reliably simulated.
The shock absorber model comprises a first mounting seat (provided with a first node) 21, a second mounting seat (provided with a second node) 22, a telescopic rod 23 and an outer cylinder 24, and 4 components. Wherein the vice 2 (each retrains 6 degrees of freedom), the vice 2 (each retrains 4 degrees of freedom) of cardan shaft, the cylinder is vice (retrains 4 degrees of freedom), the space degree of freedom formula: 6*4-6*2-4*2-4=0.
The kinematic model of the automatic height adjusting device at least comprises an adjusting rod 31, and the connection of two ends of the adjusting rod 31 and corresponding parts is simulated by a spherical pair and a cardan shaft pair respectively.
In one embodiment, the automatic height adjusting device further comprises an incubator 32 (with a height valve mounted inside), an upper ball 33, a lower ball 34, and a lever 35, which are 5 components. Wherein 3 (6 degrees of freedom are each retrained) of fixed connection pair, 1 of cardan shaft pair (retrain 4 degrees of freedom), 1 of spherical pair (retrain 3 degrees of freedom), 1 of revolute pair (retrain 5 degrees of freedom), the space degree of freedom formula: 6*5-6*3-4-3-5=0.
In the above embodiments, the automatic height adjusting device model at least includes the adjusting rod 31, the thermal insulation box 32 (with the height valve installed inside), the upper ball 33, the lower ball 34, and the lever 35, the connection between the thermal insulation box 32 (with the height valve installed inside) and the vehicle body is simulated through the fixed connection pair, the connection between the upper ball 33 and the lever 35 is simulated through the revolute pair simulation lever 35 and the thermal insulation box 32 (with the height valve installed inside), the connection between the upper ball 33 and the adjusting rod 31 is simulated through the spherical pair simulation, the connection between the lower ball 34 and the adjusting rod 31 is simulated through the cardan pair simulation, and the connection between the lower ball 34 and the framework is simulated through the fixed connection pair simulation. By defining the connecting pair in this way, the model space freedom degree of the automatic height adjusting device is zero, and the motion simulation of the automatic height adjusting device is further realized.
In particular, other component models having relative motion to the frame may be defined with reference to a damper model, an automatic height adjustment device model, or according to convention to implement kinematic simulations.
In addition, on the basis of the bogie kinematic modeling method based on the CATIA software, the invention also provides a bogie kinematic modeling system based on the CATIA software, and the bogie kinematic modeling method based on the CATIA software, which is described in any one of the embodiments, is stored.
In addition, the invention also provides a memory, which comprises a storage body, wherein the storage body is loaded with the bogie modeling system based on the CATIA software in any embodiment.
The bogie kinematic modeling system based on the CATIA software and the memory are provided with the bogie kinematic modeling method based on the CATIA software, so the bogie kinematic modeling system based on the CATIA software and the memory also have the technical effect of the bogie kinematic modeling method based on the CATIA software.
The memory is of various types, such as floppy disks, hard disks, tapes, compact disks, etc., and can be directly accessed or indirectly accessed by the computer CPU.
The bogie kinematic modeling method and system based on CATIA software provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (9)
1. A bogie kinematic modeling method based on CATIA software is characterized by comprising the following steps:
constructing a framework component model (10) and a component model with relative motion relation to a framework; wherein, the framework component model (10) comprises a framework and parts fixed in relative positions with the framework;
according to a prestored space degree of freedom formula df =6*n-k1-k2=0, matching kinematic pairs for connection between parts in each component model, connection between each component model and the framework assembly model (10) and a vehicle body;
loading corresponding motion parameters on at least one of each component model and the component model (10) to simulate the motion trail of corresponding parts of the bogie;
wherein df is the spatial degree of freedom of the motion mechanism, and n is the number of parts; k1 is the kinematic pair constraint freedom number; k2 is the number of kinematic pair driving degrees of freedom.
2. A CATIA software-based modeling method of kinematics of a bogie as claimed in claim 1, wherein at least two of a fixed coordinate system, a first coordinate system and a second coordinate system are created in advance, and X, Y and Z axes of the three are parallel; simulating the connection of the truss assembly model (10) and the second coordinate system by using a cylindrical pair so as to realize the rotation of the truss assembly model (10) around the Z axis of the fixed coordinate system and the translation along the Z axis;
simulating the connection of the second coordinate system and the first coordinate system by using a cylindrical pair so as to realize the rotation of the second coordinate system around the Y axis of the first coordinate system and the translation along the Y axis;
and simulating the connection of the first coordinate system and the fixed coordinate system by using a cylindrical pair so as to realize the rotation of the first coordinate system around the X axis of the fixed coordinate system and the translation along the X axis.
3. A CATIA software based bogie kinematic modelling method according to claim 1 or 2, wherein the component model comprises a damper model comprising a first mount (21) having a first nodal point, a second mount (22) having a second nodal point, a telescopic rod (23) and an outer cylinder (24), wherein the fixed connection of the first mount (21) to the frame is simulated by a fixed connection pair; the connection between a first node of the first mounting seat (21) and the telescopic rod (23) is simulated through a universal shaft pair, the connection between the telescopic rod (23) and the outer cylinder (24) is simulated through a cylindrical pair, the connection between the outer cylinder (24) and a second node of the second mounting seat (22) is simulated through a universal shaft pair, and the fixed connection between the second mounting seat (22) and a vehicle body is simulated through a fixed connection pair.
4. A CATIA software based modeling method for kinematics of a bogie according to claim 1 or 2, wherein said model of the component comprises a model of an automatic height adjustment device comprising at least an adjustment rod (31), the connection of the two ends of said adjustment rod (31) to the respective components being simulated by a spherical pair and a cardan shaft pair, respectively.
5. A CATIA software based modeling method of bogie kinematics as claimed in claim 4 wherein the model of automatic height adjustment device further comprises an incubator (32), an upper bulb (33), a lower bulb (34) and a lever (35), wherein the connection of the incubator (32) to the vehicle body is simulated by a fixed connection pair, the connection of the lever (35) to the incubator (32) is simulated by a revolute pair, the connection of the upper bulb (33) to the lever (35) is simulated by a fixed connection pair, the connection of the upper bulb (33) to the adjustment rod (31) is simulated by a spherical pair, the connection of the lower bulb (34) to the adjustment rod (31) is simulated by a cardan shaft pair, and the connection of the lower bulb (34) to the frame is simulated by a fixed connection pair.
6. A CATIA software based bogie kinematic modelling method according to claim 4, wherein said component model comprises a damper model comprising a first mount (21) having a first nodal point, a second mount (22) having a second nodal point, a telescopic rod (23) and an outer cylinder (24), wherein the fixed connection of the first mount (21) to the frame is simulated by a fixed connection pair; the connection between a first node of the first mounting seat (21) and the telescopic rod (23) is simulated through a universal shaft pair, the connection between the telescopic rod (23) and the outer cylinder (24) is simulated through a cylindrical pair, the connection between the outer cylinder (24) and a second node of the second mounting seat (22) is simulated through a universal shaft pair, and the fixed connection between the second mounting seat (22) and a vehicle body is simulated through a fixed connection pair.
7. A CATIA software-based modeling method for the kinematics of the bogie as claimed in claim 1, wherein the components in the framework component model (10) comprise wheels, a driving device, a brake clamp and a component mounting seat which are fixedly mounted on the framework, and the connection relationship between each component and the framework is simulated by a fixed connection pair.
8. A bogie modeling system based on CATIA software is characterized in that the bogie kinematic modeling method based on CATIA software of any one of claims 1 to 7 is stored.
9. A memory comprising a storage body, wherein the storage body is loaded with the CATIA software-based bogie modeling system according to claim 8.
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