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针对特种车辆起竖过程中多级缸换级负载冲击大等问题,采用单级缸驱动的杠杆平衡式起竖机构,并建立了该机构的数学模型,推导出机构输入与输出之间的表达关系式;针对机构不同的运动情况对整体性能影响大的问题,提出采用正向规划和逆向求解规划的运动轨迹规划方法,并分析了这两种方法在不同场合下的适用情况。仿真与实验结果表明:该方法所建立的数学模型是正确的,且电动缸伸出长度与起竖角度有直接的数学关系;电动缸的运动速度与负载的起竖角速度有间接的比例关系,这说明在无传感器的情况下就可以监测负载的运动状况,为起竖机构运动规划时临界条件的判断以及今后的研究提供了重要的理论参考依据;正向轨迹规划有利于机构的快速起竖和减少最大输出功率,逆向轨迹规划有利于机构的平稳起竖。
Aimed at the problems of large-scale cylinder-changing load impact during special vehicle vertical lifting, a lever-type vertical lifting mechanism driven by a single-stage cylinder was established and a mathematical model of the mechanism was established to deduce the expression between the input and the output of the mechanism For the problem that the different motion conditions of the organization greatly affect the overall performance, this paper proposes a planning method of motion trajectory using forward planning and reverse solving plan, and analyzes the application of these two methods on different occasions. Simulation and experimental results show that the mathematical model established by this method is correct, and there is a direct mathematical relationship between the extending length of the electric cylinder and the vertical angle; the moving speed of the electric cylinder is indirectly proportional to the vertical angular velocity of the load, This shows that sensorless monitoring of load conditions can provide an important theoretical basis for judging the critical conditions of motion planning of lifting mechanism and for future research. Forward trajectory planning is beneficial to the rapid rise of the mechanism And reduce the maximum output power, reverse trajectory planning is conducive to the smooth organization.