目的 为中小型化肥厂的汽车运输设计一套自动码垛设备,并对设备工作的动态稳定性进行分析。 方法 应用拉格朗日运动学方程求出了大车机构和小车机构的驱动力,同时该驱动力也是提升臂产生激励振荡的激励力,运用结构动力学原理,得出了提升臂激励运动方程,并对影响方程中关键的设计参数进行了仿真分析。 结果 大车机构和小车机构完成一次动作的时间参数对设备动态稳定有较大影响;连接提升臂升降部件的直径 d 越小,设备运行动态稳定性越差;连接提升臂升降部件选用不同的钢材,对设备运行动态稳定性影响基本相同。

Objective To design vehicle automatic palletizing equipment for small and medium- sized chemical fertilizer plants and to analyze the dynamic stability of the equipment. Methods Lagrange kinematics equation was applied to obtain the driven force of cart mechanism and trolley mechanism, which generated excitation oscillation of the lifting arm, and the structural dynamics theory was used to attain the equations of the lifting arm incentive motion. Besides, simulation analysis was conducted for the influence of the key design parameters. Conclusion The designed time parameter for completing an action of the cart mechanism and trolley mechanism had a great effect on the dynamic stability of the equipment. The smaller the diameter of the lifting arm connecting component, the lower the dynamic stability of the equipment. Using different steel materials to for the lifting arm connecting component had basically the same effect on the dynamic stability of the equipment.