钳夹车并联起升机构分析与电液称重实验研究

中国机械工程 ›› 2016, Vol. 27 ›› Issue (04): 449-454.

钳夹车并联起升机构分析与电液称重实验研究

赵延治;王向南;任玉波;白学刚;付勇2;魏鸿亮2

1.燕山大学河北省并联机器人与机电系统重点实验室,秦皇岛,066004
2.齐齐哈尔轨道交通装备有限责任公司,齐齐哈尔,161002

出版日期:2016-02-25 发布日期:2016-03-03
基金资助:
国家自然科学基金资助项目（51105322）；河北省自然科学基金资助项目（E2014203176)；河北省高等学校自然科学研究青年基金资助项目（QN2015040）

Analyses of Schnabel Car's Parallel Lifting Mechanism and Experimental Research on Electro-hydraulic Weighing

Zhao Yanzhi;Wang Xiangnan;Ren Yubo;Bai Xuegang;Fu Yong2;Wei Hongliang2

1.Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System,Yanshan University,Qinhuangdao,Hebei,066004
2.Qiqihaer Rail Traffic Equipment Limited Liability Company，Qiqihaer,Heilongjiang,161002

Online:2016-02-25 Published:2016-03-03
Supported by:

摘要/Abstract

摘要：

为解决长大货物铁路运输钳夹车自身精确称重问题，基于空间闭环机构自由度计算公式，对钳夹车并联起升机构进行了机构自由度分析，基于坐标变换法对钳夹车并联起升机构进行了运动学分析，建立了货物起升位置与压柱油缸输入映射模型，得到了起升机构速度传递雅可比矩阵，结合系统静力平衡方程，建立了压柱油缸起升力与货物质量间力映射模型。分别针对钳形梁结构变形和压柱油缸摩擦对并联起升机构称重精度的影响进行了分析计算，在此基础上，设计并研制了钳夹车并联起升机构样机及其电液称重实验系统，开展了基于摩擦补偿的钳夹车电液称重实验研究，提高了钳夹车电液称重精度。

关键词: 长大货物, 钳夹车, 并联起升机构, 电液称重

Abstract:

In order to solve the precise weighing problem of long-heavy cargo railway transportation schnabel car,the freedom of the parallel lifting mechanism was analyzed based on spatial closed loop.The coordinate transformation method of kinematic analysis was performed on schnabel car lifting mechanism,and the mapping model between lifting track of cargo and protrudent length of cylinder was established,the promotion mechanism of Jacobian transfer matrix system was obtained. Combined with the static equilibrium equation,the mapping model between output pressure of cylinder and mass of cargo was established.The influences of structural deformation and cylinder friction on the parallel lifting mechanism weighing precision were analyzed and calculated;then the prototype of the schnabel car parallel lifting mechanism and its electro-hydraulic weighing test system were designed and developed. The experimental study on electro-hydraulic weighing was carried out based on friction compensation of schnabel car, and the weighting precision of schnable car is improved.

Key words: long-heavy cargo；schnabel car, parallel lifting mechanism, electro-hydraulic weighing

中图分类号:

TH112

赵延治, 王向南, 任玉波, 白学刚, 付勇, 魏鸿亮. 钳夹车并联起升机构分析与电液称重实验研究[J]. 中国机械工程, 2016, 27(04): 449-454.

Zhao Yanzhi, Wang Xiangnan, Ren Yubo, Bai Xuegang, Fu Yong, Wei Hongliang. Analyses of Schnabel Car's Parallel Lifting Mechanism and Experimental Research on Electro-hydraulic Weighing[J]. China Mechanical Engineering, 2016, 27(04): 449-454.

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