以过约束空间机构构造的汽车侧门锁变模式电动开启支链

曲志洋; 杭鲁滨; 钟传磊

doi:10.13433/j.cnki.1003-8728.20220081

以过约束空间机构构造的汽车侧门锁变模式电动开启支链

doi: 10.13433/j.cnki.1003-8728.20220081

曲志洋^1,,
杭鲁滨^{1, 2, ,},
钟传磊¹

1.
上海工程技术大学机械与汽车工程学院，上海　201620
2.
上海市大型构件智能制造机器人技术协同创新中心，上海　201620

基金项目: 国家自然科学基金项目（51475050）与上海市大型构件智能制造机器人技术协同创新中心开放基金项目（ZXY20211101）

详细信息

作者简介:
曲志洋（1996−），硕士研究生，研究方向为机器人机构学，1337465667@qq.com

通讯作者:
杭鲁滨，教授，博士，硕士生导师，hanglb@126.com

中图分类号: TG112
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- 被引次数: 0
出版历程
- 收稿日期: 2021-08-21
- 网络出版日期: 2023-09-13
- 刊出日期: 2023-08-31

Variable Mode Power Release Branch Chain of Vehicle Side Door Latch Constructed with Over-constrained Spatial Mechanism

QU Zhiyang^1
,,
HANG Lubin^{1, 2
, ,},
ZHONG Chuanlei¹

1.
School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai 201620, China
2.
Shanghai Collaborative Innovation Center of Intelligent Manufacturing Robot Technology for Large Components, Shanghai 201620, China

摘要

摘要: 面向汽车侧门锁轻量化及空间有效利用的需求，基于方位特征集提出一种空间过约束机构构型方案，对其拓扑结构及尺度约束类型进行机构解耦特征综合，构造两簇互相垂直的旋转副($\{R_A\|R_B\| R_F \perp R_E\|R_C\| R_D\} $)；对空间解耦过约束机构尺度特征进行优化,综合出可用于车门锁电动开启的空间RRURR解耦少杆过约束机构；在此基础上增设由滑槽与扭簧组合的柔顺副，构建具有柔顺性的单回路变模式空间RRUPRR机构。其不同驱动模式、限位边界可实现多种运动模式及其模式切换，包括空间6R过约束机构运动、空间5R1P机构运动和平面3R1P四杆机构运动模式。将柔顺单回路变模式机构嵌入车门锁电动开启支链，实现了电动开启、手动开启等功能；动力学仿真得到手动开启工况中齿轮曲柄仅发生0.042°的微小转动角度，验证了电动开启支链与手动开启支链的运动兼容。
- 汽车侧门锁 /
- 过约束机构 /
- 复合柔顺副 /
- 变模式空间机构 /
- 动力学仿真
Abstract: To meet the requirements of a lightweight vehicle side door latch and its effective space utilization, the configuration scheme of its over-constrainedspatial mechanism is proposed based on its position and orientation characteristics. The mechanismsfor decoupling feature synthesis are carried out for its topology and dimensional constraint types, and two clusters of mutually perpendicular rotational pairs are constructed ($\{R_A\|R_B\| R_F \perp R_E\|R_C\| R_D\} $). The dimensional characteristics of the decoupled over-constrainedspatial mechanisms are optimized, and the RRURR decoupled over-constrainedspatial mechanism which can be used for power release of the vehicle door latch is synthesized. The compliant pair composed of a groove and a compliant torsion spring is added to construct a compliant single-loop and variable-mode RRUPRR spatialmechanism. Its different driving modes and limited boundaries can realize a variety of motion modes andswitch modes, including the 6R over-constrainedspatial mechanism motion mode, the 5R1P spatialmechanism motionmode and the planar 3R1P four-barspatial mechanism motion mode. The flexible single-loop and variable-mode spatialmechanism is embedded into the power release branch of the vehicle door latch to realize the functions of power release and manual release. The dynamic simulation results show that the gear crank has only a small rotational angle of 0.042° in the manual release condition, thus verifying the motion compatibility between the power release branch and the manual release branch.
- vehicle side door latch /
- over-constraint mechanism /
- compliant pair /
- variable mode spatial mechanism /
- dynamic simulation

HTML全文

图 1 汽车侧门锁传动机构及有待综合的电动开启支链

Figure 1. Side door lock transmission mechanism in automobiles and the electric opening support branched chain to be integrated

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图 2 待综合电动开启机构和电动开启机构综合方案

Figure 2. To be integrated electric opening mechanism and electric opening mechanism comprehensive scheme

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图 3 开启机构尺度约束类型优化

Figure 3. Optimization of size-constrained types for the opening mechanism

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图 4 杆副优化后机构

Figure 4. The mechanism with optimized bar pair

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图 5 具有柔顺特性的空间RRUPRR机构

Figure 5. Spatial RRUPRR mechanism with compliant characteristics

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图 6 汽车侧门锁机构结构示意图

Figure 6. Schematic diagram of the automobile side door lock mechanism

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图 7 空间RRURR机构运动学模型

Figure 7. Kinematic model of the spatial RRURR mechanism

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图 8 RRPR机构矢量封闭模型

Figure 8. Vector closure model of the RRPR mechanism

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图 9 基于Adams构建的车门锁机构仿真模型

Figure 9. Simulation model of the door lock mechanism based on Adams

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图 10 电动开启过程转角变化

Figure 10. Variation in angle during the electric opening process

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图 11 电动开启过程棘轮棘爪接触力曲线

Figure 11. The contact force curve of the ratchet and pawl during the electric opening process

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图 12 电动开启过程中齿轮曲柄驱动力变化曲线

Figure 12. Variation in the driving force of the gear crank during the electric opening process

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图 13 手动开启过程棘轮棘爪接触力曲线

Figure 13. The contact force curve of the ratchet and pawl during the manual opening process

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图 14 手动开启过程中齿轮曲柄转角变化

Figure 14. Variation in crank angle during the manual opening process

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表 1 各工况车门锁操作机构运动过程及其对应的空间柔顺七杆机构运动示意图

Table 1. Motion processeses of the operating mechanisms for various working conditions of the door lock and corresponding motion diagrams of the spatial compliant seven-bar mechanisms

工况	车门锁操作机构运动示意图	空间柔顺七杆机构运动示意图	功能实现及运动过程
电动开启			曲柄CD逆时针转动，带动棘爪盘AB使棘爪脱离限位块；一定角度后，棘爪释放棘轮，门锁开启；该过程转动副B始终处于滑槽极限位置，不会产生相对滑动。
电动开启	P副刚化，空间RRUPRR机构转化为空间RRURR机构。	1自由度空间过约束机构运动模式 $\rm DOF=6-5=1 $ 等效机构为：RRURR过约束机构
电动开启复位			曲柄CD与棘爪顺时针旋转复位，由于惯性力作用，齿轮曲柄CD回到原始位置后会继续反转一段距离，此时棘爪和棘爪盘由于扭簧力的作用保持静止。
电动开启复位	复位扭簧T_D为驱动，空间RRUPRR机构转化为空间RRUPR机构。	1自由度空间机构运动模式 $ \rm DOF=6-5=1 $ 等效机构为：空间5R1P机构
手动开启			棘爪盘AB顺时针转动，转动副B脱离滑槽左端极限位置，与滑槽之间产生相对滑动，同时棘爪顺时针转动，一定角度后棘爪释放棘轮，门锁开启。
手动开启	转动副D刚化，空间RRUPRR机构转化为平面3R1P机构。	1自由度平面机构运动模式 $\rm DOF=6-5=1 $ 等效机构为：平面3R1P机构
注：图中黑色虚线为运动初始位置，黑色实线为运动过程某一瞬时位置。

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表 2 扭簧刚度系数及预载荷参数

Table 2. The stiffness coefficient and pre-load parameters of the torsion spring

参数	刚度系数/（Nmm·（°）⁻¹）	预载荷/N
棘爪扭簧$ {T_1} $	2.2119	265
棘轮扭簧$ {T_2} $	0.4927	−340
曲柄扭簧$ {T_D} $	2.2119	0
柔顺扭簧$ {T_B} $	0.4927	0

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表 3 齿轮传动机构参数

Table 3. Gear transmission mechanism cylinder parameters

参数	数值
齿轮曲柄节圆半径r	13.5 mm
齿轮传动机构传动比i	1∶120
电机最大转矩T	11 Nmm

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