杠杆平衡式起升机构的动力学建模与特性分析

Dynamics Modeling and Characteristic Analysis of Leveraged Balance on Lifting Mechanism

针对起升机构中多级缸换级冲击的问题,提出使用单级缸的杠杆平衡式起升方案。采用几何分析方法,建立了机构的数学模型;通过轨迹规划优化了起升过程;利用ADAMS软件仿真验证了该模型的正确性;最后通过与传统三铰支点直推式起升机构进行对比仿真,分析表明:杠杆平衡式起升机构与三铰支点直推式相比,前者的起升推力大,但是能缩短驱动缸的伸出位移,减小最大速度和最大加速度,保证了起升过程中驱动缸的平稳性和快速性,减少了对负载的冲击,此机构在轻型负载起升机构中能够得到较好的应用。

The single-stage cylinder leveraged balance lifting solutions was proposed to solve multi stage cylind erchange-stage impact in lifting mechanism. The mathematical model was built by using geometric analysis methods. Lifting process was optimized by trajectory planning. The correctness of the model was verified on ADAMS platform. By comparing simulation with the traditional threehinged pivot direct push type lifting mechanism. Simulation results show that from the thrust force on leveraged balance lifting mechanism is greater than the latter, the drive cylinder extending displacement is shorten and the maximum speed and maximum acceleration are reduced which ensure that the process of lifting cylinder smoothness and rapidity that reduce the impact of the load. This mechanism will be get a better application in the hoisting mechanism of new load.