Kinematics analysis of novel multi-stage luffing mechanism of piling rig

doi:10.3785/j.issn.1006-754X.2024.14.06

2024, Vol. 31

Issue (6): 784-792 DOI: 10.3785/j.issn.1006-754X.2024.14.06

【Special Column】Achievement Exhibition of "2024’Science and Technology Festival for Construction Machinery Industry "-Innovative Technologies and Their Applications

Kinematics analysis of novel multi-stage luffing mechanism of piling rig

Huacheng DENG¹(

),Huimei KANG¹(

),Zhenxin ZHU^2,³,Xilin TANG¹

^1.College of Engineering and Design, Hunan Normal University, Changsha 410081, China
^2.National Enterprise Technology Center, Sunward Intelligent Equipment Co. , Ltd. , Changsha 410100, China
^3.Hunan Provincial Engineering Research Center for Underground Engineering Equipment, Changsha 410100, China

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Abstract

In order to improve the stress condition of piling rig, a novel multi-stage luffing mechanism of piling rig was proposed. The mechanism could effectively reduce the bending moment of the front hydraulic cylinder and improve the stability of piling rig during operation. Firstly, the spatial coordinate system was established, and the forward and inverse solutions of the spatial position of the mechanism were analyzed, and then the velocity Jacobian matrix and acceleration Hessian matrix were derived, and the kinematics model of the mechanism was obtained. Secondly, after the mechanism parameters and the displacement function of the hydraulic cylinder were set according to the luffing conditions, the motion characteristics of the mechanism were analyzed using MATLAB software, the connection mode of the hydraulic cylinder contraction was determined, and the influence of the mechanism parameters on the luffing motion was further analyzed. Finally, the ADAMS simulation results of luffing motion of the mechanism were compared with the theoretical analysis results. The results showed that the kinematics model of the multi-stage luffing mechanism was correct. The mechanism could steadily luff the column from horizontal to vertical, the slider always moved upward during the luffing process, and the connecting rod after luffing was vertical to the front hydraulic cylinder. Accelerating contraction of the rear hydraulic cylinder while decelerating contraction of the front hydraulic cylinder was conducive to stable luffing. The research results can provide a reference for the dynamics analysis and optimal design of the novel multi-stage luffing mechanism of piling rig.

Key words： piling rig luffing mechanism kinematics analysis parameter design simulation

Received: 17 April 2024 Published: 31 December 2024

CLC:

TH 113.2

Corresponding Authors: Huimei KANG E-mail: 3046371611@qq.com;plum_007@sina.com

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Cite this article:

Huacheng DENG,Huimei KANG,Zhenxin ZHU,Xilin TANG. Kinematics analysis of novel multi-stage luffing mechanism of piling rig. Chinese Journal of Engineering Design, 2024, 31(6): 784-792.

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https://www.zjujournals.com/gcsjxb/10.3785/j.issn.1006-754X.2024.14.06 OR https://www.zjujournals.com/gcsjxb/Y2024/V31/I6/784

新型桩架多级变幅机构运动学分析

为了改善桩架的受力情况，提出了一种新型桩架多级变幅机构。该机构能有效减小前液压缸的弯矩，提高桩架在作业时的稳定性。首先，建立了空间坐标系，分析了该机构空间位置的正解和反解，继而推导出速度雅可比矩阵和加速度海森矩阵，得到了该机构的运动学模型；其次，根据变幅条件设定了机构参数和液压缸位移函数后，采用MATLAB软件分析了机构的运动特性，确定了液压缸收缩动作的衔接方式，并进一步分析了机构参数对变幅运动的影响；最后，将机构变幅运动的ADAMS仿真结果与理论分析结果进行对比。结果表明：所构建的多级变幅机构的运动学模型正确；机构可以平稳地将立柱从水平变幅至竖直，变幅过程中滑块始终上移，变幅后连杆与前液压缸垂直；在前液压缸减速收缩的同时进行后液压缸加速收缩有利于变幅平稳。研究结果可为新型桩架多级变幅机构的动力学分析和优化设计提供参考。

关键词： 桩架, 变幅机构, 运动学分析, 参数设计, 仿真

Fig.1 Schematic diagram of luffing mechanism of piling rig

Fig.2 Schematic diagram of bending moment of component

Fig.3 Motion diagram of novel multi-stage luffing mechanism of piling rig

参数	数值
$l 1$ /m	16.8
$l 2$ /m	3.054
$l 3$ /m	1.430 73
$a 1$ /m	1.276 79
$a 2$ /m	5.622 81
$a 3$ /m	2
$a 4$ /m	5.04
$α$ ₀/(°)	0
$β$ ₀/(°)	67
$θ 1$ /(°)	16.38
$θ 2$ /(°)	5.17

Table1 Parameters of multi-stage luffing mechanism

Fig.4 Acceleration and angular acceleration curves of multi-stage luffing mechanism

Fig.5 Velocity and angular velocity curves of multi-stage luffing mechanism under connection mode 2

Fig.6 Position curves of multi-stage luffing mechanism under connection mode 2

Fig.7 Influence of parameters of multi-stage luffing mechanism on

α m a x

Fig.8 ADAMS simulation model of multi-stage luffing mechanism

Fig.9 Position simulation curves of multi-stage luffing mechanism

Fig.10 Velocity and angular velocity simulation curves of multi-stage luffing mechanism

Fig.11 Acceleration and angular acceleration simulation curves of multi-stage luffing mechanism


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