基于拉格朗日功能平衡法的单轨吊失速保护器触发理论分析  

Trigger Theory Analysis of Monorail Crane Stall Protector Based on Lagrange Functional Balance Method

作　　者：刘登彪[1] 王鹏[1] 李翠赟[1] 郑子臣 钟佩思[2] 肖傲 闫禹彤 LIU Dengbiao;WANG Peng;LI Cuiyun;ZHENG Zichen;ZHONG Peisi;XIAO Ao;YAN Yutong(College of Intelligent Equipment,Shandong University of Science and Technology,Tai'an 271019,China;College of Mechanical and Electronic Engineering,Shandong University of Science and Technology,Qingdao 266590,China)

机构地区：[1]山东科技大学智能装备学院,山东泰安271019 [2]山东科技大学机械电子工程学院,山东青岛266590

出　　处：《煤炭技术》2024年第4期250-254,共5页Coal Technology

基　　金：山东省自然科学基金项目(ZR202103070107,ZR2022ME040)。

摘　　要：通过假设分步法从机器人学的角度对单轨吊机车失速保护器触发装置进行运动学分析,并对点位进行了详细描述。采用拉格朗日功能平衡法对失速保护器触发机构中的滑动轴位移状况建立了完整的动力学数学模型,通过该模型可以描述在运动过程中的滑动轴位移与运行速度、各部件参数之间的关系。借助Adams软件构建虚拟样机模型进行动力学仿真分析,得出所需的速度-位移仿真结果图。分析结果表明,滑动轴的位移与运行速度有关,当运行速度到达所设定临界值2 m/s时,滑动轴能够伸出足够长度以满足失速保护工作要求,符合数学模型的预期计算。The kinematic analysis of the stall protector trigger device of the monorail crane from the perspective of robotics is carried out by hypothetical step-by-step method,and the point position is described in detail.A complete dynamic mathematical model of the sliding axis displacement in the stall protector trigger mechanism was established by using the Lagrange functional balance method,through which the relationship between the sliding axis displacement,the running speed and the parameters of each component during the motion can be described.With the help of Adams software,a virtual prototype model was constructed for dynamic simulation analysis,and the required velocity-displacement simulation result map was obtained.The analysis results show that the displacement of the sliding shaft is related to the running speed,and when the running speed reaches the set critical value of 2 m/s,the sliding shaft can extend enough length to meet the stall protection work requirements,which is in line with the expected calculation of the mathematical model.

关 键 词：单轨吊失速保护器触发装置 触发理论 拉格朗日功能平衡法 动力学 虚拟样机 

分 类 号：TD524[矿业工程—矿山机电]