三通道登机桥的运动分析及动力学计算
罗良清1，谭朝阳2，顾晓勤2
（1.灏博生态科技（广东）有限公司，广东 中山 528400；2.电子科技大学中山学院，广东 中山 528402）
摘要：考虑登机桥外通道和中通道的运动约束关系，研究三通道登机桥系统7个旋转运动副和3个平移运动副，建立运动学模型。研究登机桥立柱升降运动、驱动轮电机与接机口的三个平移自由度之间的关系。接机口控制电机转动实现调整接机口姿态。建立登机桥多体系统动力学控制方程，对于接机口给定的位置运动规律，计算出升降立柱液压油缸的驱动力，以及两个行走轮驱动力矩。推导得到登机桥驱动轮的抱闸力矩计算公式。对个别重要的间歇较大的转动副进行切向力、法向力计算，计算间隙滑动移动副的接触力。针对某型号登机桥进行实际计算，得到地面提供的垂直于通道的摩擦力、立柱液压缸升力、接机口移动距离以及驱动力矩变化规律等。
关键词：登机桥；多体系统；动力学
中图分类号：TH112 文献标志码：A doi：10.3969/j.issn.1006-0316.2021.12.010
文章编号：1006-0316 (2021) 12-0068-08
Motion Analysis and Dynamic Calculation of Three-Passageway Boarding Bridge
LUO Liangqing1，TAN Zhaoyang2，GU Xiaoqin2
( 1.Howbroad Eco-Technology (Guangdong) Co., Ltd., Zhongshan 528400, China; 2.University of Electronic Science and Technology of China，Zhongshan Institute, Zhongshan 528402, China )
Abstract：On the basis of the kinematic constraint relationship of the outer and middle passageways of the boarding bridge, the kinematic model of the three-passageway boarding bridge system with 7 rotational and 3 translational motion pairs is established. The relationship between the lifting motion of the boarding bridge column and the three translational degrees of freedom between the driving wheel motor and the docking part is studied. The motion of the docking port is controlled by the motor rotation. The dynamic control equation of the multi-body boarding bridge system is established, and the driving force of the hydraulic cylinder in the middle of the column and the driving torque of the two walking wheels are calculated according to the given motion law of the docking port. The lock torque calculation formula of the boarding bridge drive wheels is derived. The calculation of the tangential force and the normal force of the rotating pairs of some individual important with larger intermittent. And the contact force of the intermittent sliding pair is calculated. The actual calculation is carried out for a certain type of boarding bridge, the friction force perpendicular to the passage provided by the ground, the lifting force of the column hydraulic cylinder, the moving distance of the docking port and the variation law of the driving torque are obtained.
Key words：aerobridge；multi-body；dynamics
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收稿日期：2021-03-01
基金项目：中山市科技计划项目《过山车、扶梯、登机桥结构力学计算及优化》（2015B2301）；中山市智能制造平台项目（26-53112203）；中山市智能机器人工程中心项目（418S48）；企业委托项目《可动智能设备研发》（419QIQ48）
作者简介：罗良清（1979－），男，江西吉安人，硕士，工程师，主要研究方向为登机桥、登船桥移动结构设计与制造，E-mail：jxlqluo@163.com；谭朝阳（1963－），女，河南许昌人，本科，副教授，主要研究方向为多体系统动力学；顾晓勤（1963－），男，江苏常熟人，博士，教授，主要研究方向为数字化设计、仿真与制造。
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