机械

顶升机构是挂载车实现负载多自由度调整功能的重要组成部分。基于已知的对称齿轮五杆机构原理及运动特性，在其机构顶部增加与机架平行的第六杆件和一对齿轮副，形成一种稳定单一驱动输入的六杆顶升机构，并为负载垂直顶升提供承载基础。采用几何分析法对六杆机构可工作范围内典型运动形态进行列举和筛选，将规定低点及高点作为输入，收敛出机构杆件参数的求解函数，并绘制出值域范围。在此基础上，采用Cero软件对两种位置的驱动输入模式进行动力学仿真。根据动力学特性对比分析，选择中部水平驱动作为手动驱动的输入方式。仿真分析及样机试验结果表明，基于齿轮对称六杆顶升机构的挂载车可以实现极低点位置负载的多自由度调整，且具有升降范围大、顶升载荷大的特点。

The lifting mechanism is an important component of the mounting vehicle to enable multi degree of freedom adjustment function of the load. Based on the known principle and motion characteristics of the symmetrical gear five-bar mechanism, a sixth bar parallel to the frame and a pair of gear pairs are added to the top of the mechanism to form a stable single drive input six-bar lifting mechanism, which provides a load-bearing foundation for the vertical lifting of the load. The geometric analysis method is used to list and screen the typical motion forms within the working range of the six-bar mechanism. The specified low and high points are used as inputs to converge the solution function of the mechanism bar parameters and draw the range of values. On this basis, the Cero software is used to perform dynamic simulation on the driving input modes of the two positions. Based on the comparative analysis of dynamic characteristics, the middle horizontal drive is selected as the manual input method. The simulation analysis and prototype test results show that the mounted vehicle based on the gear symmetric six-bar lifting mechanism can achieve multi degree of freedom adjustment of the load at the extremely low point position, exhibiting a wide lifting range and a high load capacity.