Method for calculating effective rated dynamic load of track climbing mechanism based on finite element analysis

Abstract

The invention discloses a method for calculating an effective rated dynamic load of a rail climbing mechanism based on finite element analysis, and relates to the technical field of rail climbing mechanisms. Comprising the following steps: acquiring the self mass and the carrying mass of the track climbing mechanism, establishing a finite element analysis model, and setting the structural material and the surface area of the mechanism; and calculating a static load based on the self mass and the carried mass, obtaining an effective windward area through finite element analysis, and further calculating a wind power additional load. And analyzing the initial friction coefficient of the track climbing mechanism and the track to be climbed, correcting the coefficient according to the climbing environment parameters, and calculating the friction additional load. And analyzing the vibration characteristic parameters of the mechanism, calculating the vibration acceleration, and thus obtaining the vibration additional load. And determining the effective rated dynamic load of the track climbing mechanism by combining the movement acceleration and the comprehensive vibration additional load. An effective load calculation scheme is provided, and the safety and reliability of the climbing mechanism are ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of rail climbing mechanisms, and in particular to a method for calculating the effective rated dynamic load of a rail climbing mechanism based on finite element analysis. Background Art

[0002] The iron tower of the transmission line bears the load of the transmission line and its own weight, and can also ensure the insulation of the transmission line from the ground. Generally speaking, the higher the voltage level of the transmission line, the higher the height of the corresponding iron tower. Common high-voltage towers are generally 25-40 meters, and the iron towers of the large-span sections of the transmission line, whether in the tension form or in the straight-line lifting form, are higher than the iron towers of general lines.

[0003] Traditional lifting tools are not suitable for transporting operators to carry tools to climb towers. Operators can only climb towers with bare hands. For towers over 100 meters high, climbing with bare hands not only takes a long time, but also consumes a lot of physical strength of operators, seriously affecting work efficiency. Faced with towers that are difficult to climb, especially in bad weather conditions, the difficulty of workers climbing with bare hands can be imagined. Not only can it not guarantee the safety of climbing the tower, but it is also a great obstacle to the efficiency of climbing the tower.

[0004] Traditional methods for calculating the load of rail climbing mechanisms mostly rely on simplified models or empirical formulas. Although these methods can estimate the load to a certain extent, they cannot fully consider complex working conditions. For example, factors such as changes in wind speed in the environment, changes in the friction coefficient during climbing, and changes in the self-vibration characteristics of the mechanism may have a significant impact on the actual load of the mechanism. Moreover, since the operation process of the rail climbing mechanism is often accompanied by certain dynamic responses such as vibration and acceleration, these dynamic loads are often ignored in traditional static calculations, resulting in certain errors in the calculation results, thereby affecting the design safety and accuracy of the mechanism.

[0005] Therefore, how to accurately calculate and evaluate the various loads that the rail climbing mechanism is subjected to in the actual working environment is an important technical challenge to ensure its reasonable design, structural safety and reliability.

[0006] In the prior art, the publication number CN117077489A discloses a method for calculating the effective rated dynamic load of a roller bearing based on finite element analysis, by obtaining the basic structural parameters of the roller bearing, establishing a roller bearing model in a parametric three-dimensional modeling software, inputting the roller bearing model into the finite element analysis software, performing pre-processing, and conducting dynamic analysis, obtaining the actual load distribution angle and inputting the load distribution angle into the mathematical model to calculate the effective rated dynamic load of the roller bearing, simulating the actual working load condition of the roller bearing based on the finite element analysis method, outputting the real load distribution angle, and then more accurately calculating the effective rated dynamic load of the roller bearing. However, in reality, bearings are often affected by external factors such as vibration, temperature changes, and load fluctuations, and the changes in these factors have a profound impact on load distribution and bearing life. A more complex physical field coupling analysis is required, otherwise it may lead to underestimation or overestimation of the results; at the same time, the loading angle may change due to factors such as lubrication status and bearing temperature changes, and these dynamic changes may not be fully and accurately reflected in the finite element model. Therefore, the accuracy and effectiveness of the calculated effective rated dynamic load are reduced.

[0007] The above information disclosed in this Background section is only for enhancement of understanding of the background of the present disclosure and therefore it may contain information that does not constitute the prior art that is already known to one of ordinary skill in the art. Summary of the invention

[0008] The object of the present invention is to provide a method for calculating the effective rated dynamic load of a track climbing mechanism based on finite element analysis, so as to solve the problems raised in the above-mentioned background technology.

[0009] To achieve the above object, the present invention provides the following technical solutions: A method for calculating the effective rated dynamic load of a track climbing mechanism based on finite element analysis, the specific steps comprising: Obtain the self-mass and carrying mass of the track climbing mechanism, establish a finite element analysis model, input the set self-mass and carrying load of the track climbing mechanism, and set the structural material and surface area of ​​the track climbing mechanism in the established model; Based on the mass of the track climbing mechanism and the carrying mass, the static load of the track climbing mechanism is calculated. Based on the surface area of ​​the track climbing mechanism, the effective windward area of ​​the track climbing mechanism during climbing is analyzed and obtained through the finite element analysis model. The additional wind load is calculated based on the effective windward area. The initial friction coefficient between the track climbing mechanism and the track to be climbed is obtained based on the finite element analysis model, and the initial friction coefficient is corrected in combination with the climbing environment parameters to obtain the dynamic friction coefficient, and the friction additional load is calculated based on the dynamic friction coefficient; The vibration characteristic parameters of the whole mechanism of the track climbing mechanism during the climbing process are obtained based on the finite element analysis model, the vibration acceleration of the mechanism is calculated through the vibration characteristic parameters, and the vibration additional load is obtained based on the vibration acceleration calculation, wherein the vibration characteristic parameters include the vibration frequency and amplitude of the mechanism; The acceleration load is calculated based on the movement acceleration of the track climbing mechanism during the climbing process, and a mathematical analysis model is established. The effective rated dynamic load of the track climbing mechanism is determined by combining the vibration additional load, friction additional load, wind additional load and static load.

[0010] Furthermore, a finite element analysis model is established, which specifically includes the following steps: creating a geometric model of the track climbing mechanism, determining the surface area of ​​the track climbing mechanism based on the geometric model, and defining the material properties of each component, including elastic modulus and Poisson's ratio, which are used to obtain the initial friction coefficient based on the material property parameters.

[0011] Furthermore, based on the mass of the track climbing mechanism itself and the carried mass, the static load of the track climbing mechanism is calculated, wherein the specific formula for calculating the static load of the track climbing mechanism is: ; In the formula, represents the static load of the track climbing mechanism, For the quality of the institution itself, is the rated carrying mass of the mechanism, is the acceleration due to gravity; Based on the surface area of ​​the track climbing mechanism, the effective windward area of ​​the track climbing mechanism during climbing is analyzed and obtained through the finite element analysis model. The formula for calculating the effective windward area is: ; In the formula, is the surface area of ​​the track climbing mechanism, is the rated wind direction angle, is the rated effective frontal area; The additional wind load is calculated based on the effective windward area, where the formula for calculating the additional wind load is: ; In the formula, Additional load for wind force, is the wind pressure, is the drag coefficient, where wind pressure The calculation is based on the formula: ; In the formula, is the air density, is the set rated wind speed, where the air density It is calculated by air pressure and ambient temperature. The specific calculation formula is: ; In the formula, For rated operating altitude The air pressure at is the ideal gas constant, is the rated ambient temperature, where the altitude is Air pressure at The calculation is based on the formula: ; In the formula, is the standard atmospheric pressure at sea level, is the molar mass of air, Indicates the rated altitude at which the track climbing mechanism is located.

[0012] Furthermore, the initial friction coefficient between the track climbing mechanism and the track to be climbed is obtained based on the finite element analysis model, and the initial friction coefficient is corrected in combination with the climbing environment parameters to obtain the dynamic friction coefficient, wherein the logic for obtaining the initial friction coefficient is: the initial friction coefficient is determined by the structural material of the track climbing mechanism and the material of the track to be climbed, wherein the formula for calculating the dynamic friction coefficient is: ; In the formula, is the initial friction coefficient, is the dynamic friction coefficient, is the rated ambient humidity, and is the weight coefficient of rated ambient humidity and ambient temperature, where and and Both are greater than 0.

[0013] Furthermore, the formula for calculating the friction additional load based on the dynamic friction coefficient is: ; In the formula, Additional load for friction.

[0014] Furthermore, based on the finite element analysis model, the vibration characteristic parameters of the entire mechanism during the climbing process of the track climbing mechanism are obtained, and the vibration acceleration of the mechanism is calculated by the vibration characteristic parameters, wherein the formula for calculating the vibration acceleration is: ; In the formula, is the effective value of vibration acceleration at N time points, is the vibration acceleration collected at the tth time point, is the total number of collected time points, t is the index of the time point, and ; The vibration acceleration The calculation is based on the formula: ; In the formula, is the rated vibration amplitude of the entire mechanism during the climbing process of the track climbing mechanism, is the rated vibration frequency of the entire mechanism during the climbing process of the track climbing mechanism, where The initial vibration frequency collected is corrected based on the rated surface temperature of the mechanism. The specific formula is: ; In the formula, is the initial vibration frequency, is the temperature correction constant, is the rated surface temperature of the track climbing mechanism, is the standard reference temperature; The formula for calculating the vibration additional load based on vibration acceleration is: ; In the formula, Additional load for vibration, For the quality of the institution itself, For the carrying quality of the institution.

[0015] Furthermore, the acceleration load is calculated based on the movement acceleration of the track climbing mechanism during the climbing process, wherein the formula for calculating the acceleration load is: ; In the formula, is the acceleration load, is the rated moving acceleration of the track climbing mechanism; A mathematical analysis model is established to determine the effective rated dynamic load of the track climbing mechanism by combining the vibration additional load, friction additional load, wind additional load and static load. The formula for calculating the effective rated dynamic load of the track climbing mechanism is: ; In the formula, , and They are friction additional load, wind additional load and static load respectively.

[0016] Compared with the prior art, the present invention has the following beneficial effects: First, by establishing a detailed finite element analysis model and inputting basic parameters such as structural materials, surface area, and carrying mass of the rail climbing mechanism, the combined effects of various static and dynamic factors can be fully considered. This method can accurately simulate the stress state of the mechanism under a real working environment, avoiding the simplified assumptions and underestimation problems that may occur in traditional methods. Secondly, this scheme can evaluate the multiple loads on the rail climbing mechanism in a dynamic environment by accurately calculating static loads, wind-added loads, friction-added loads, and vibration-added loads. The wind-added load can be estimated under different wind speed conditions, thereby adjusting the design and working strategy of the rail climbing mechanism; at the same time, by correcting the friction coefficient and combining the parameters in the climbing process, the friction load can be more accurately predicted, further improving the stability and safety of the climbing process. In addition, considering that the rail climbing mechanism is often accompanied by vibration and acceleration in actual work, the response of the mechanism under dynamic conditions can be comprehensively evaluated by analyzing the vibration characteristic parameters and combining the calculation of the acceleration load. It helps to better understand the stress characteristics of the mechanism under complex working conditions, and then optimize the structural design of the mechanism, enhance its vibration resistance and impact resistance, and thus improve the safety and working reliability of the rail climbing mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall method flow of the present invention. DETAILED DESCRIPTION

[0018] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments.

[0019] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0020] Example: See also Figure 1 , the present invention provides a technical solution: A method for calculating the effective rated dynamic load of a track climbing mechanism based on finite element analysis, the specific steps comprising: Step 1: Obtain the self-mass and carrying mass of the track climbing mechanism, establish a finite element analysis model, input the set self-mass and carrying load of the track climbing mechanism, and set the structural material and surface area of ​​the track climbing mechanism in the established model; A finite element analysis model is established, which specifically includes the following steps: creating a geometric model of the track climbing mechanism, determining the surface area of ​​the track climbing mechanism based on the geometric model, and defining the material properties of each component, including elastic modulus and Poisson's ratio, which are used to obtain the initial friction coefficient based on the material property parameters.

[0021] Specifically obtain the geometric parameters of the track climbing mechanism, such as length, width, height, thickness of each part, etc., open the finite element analysis software (such as ANSYS, Abaqus, COMSOL, etc.), use the drawing tools in the software, and draw the three-dimensional model of the climbing mechanism according to the collected geometric dimensions to ensure that the model accurately reflects the shape and size of the actual structure. Find the material library in the software, create a new material and enter the collected material properties. Ensure that the type of material used (such as elastic, plastic, composite material, etc.) is consistent with the actual material, and apply gravity load according to its own mass and carrying mass. Set the direction and size of gravity in the model.

[0022] Step 2: Based on the mass of the track climbing mechanism itself and the carried mass, the static load of the track climbing mechanism is calculated. Based on the surface area of ​​the track climbing mechanism, the effective windward area of ​​the track climbing mechanism during climbing is analyzed through the finite element analysis model. The additional wind load is calculated based on the effective windward area.

[0023] Based on the mass of the track climbing mechanism itself and the carried mass, the static load of the track climbing mechanism is calculated, wherein the specific formula for calculating the static load of the track climbing mechanism is: ; In the formula, represents the static load of the track climbing mechanism, For the quality of the institution itself, is the rated carrying mass of the mechanism, is the acceleration due to gravity, wherein the rated carrying mass of the mechanism can be set by industry and national or international standards. In this design, the rated carrying mass of the track climbing mechanism is between 150kg and 200kg.

[0024] Based on the surface area of ​​the track climbing mechanism, the effective windward area of ​​the track climbing mechanism during climbing is analyzed and obtained through the finite element analysis model. The formula for calculating the effective windward area is: ; In the formula, is the surface area of ​​the track climbing mechanism, is the rated wind direction angle, is the rated effective windward area; the rated wind direction angle is set according to the surface area of ​​the track climbing mechanism, such as 50% of the surface area of ​​the track climbing mechanism. Up to 80 , and determine it according to the actual use environment. The maximum value is 1.

[0025] The additional wind load is calculated based on the effective windward area, where the formula for calculating the additional wind load is: ; In the formula, Additional load for wind force, is the wind pressure, The drag coefficient can be obtained by: For objects of common shapes (such as rectangles, cylinders, spheres, etc.), there are a lot of research results and experimental data for reference. Usually, the corresponding data can be found in monographs or journals on fluid mechanics and aerodynamics. value, or use CFD software (such as ANSYS Fluent, OpenFOAM, COMSOL, etc.) to perform numerical simulation, simulate the flow field around the object, and calculate the corresponding drag coefficient. The specific value range is generally between 0.02 and 2.0.

[0026] The wind pressure The calculation is based on the formula: ; In the formula, is the air density, The set rated wind speed is the maximum wind speed in the working environment.

[0027] The air density It is calculated by air pressure and ambient temperature. The specific calculation formula is: ; In the formula, For rated operating altitude The air pressure at is the ideal gas constant, is the rated ambient temperature, where the altitude is Air pressure at The calculation is based on the formula: ; In the formula, It is the standard atmospheric pressure at sea level, generally 101325Pa. is the molar mass of air, which is about 0.029 kg / mol. Indicates the altitude at which the rated track climbing mechanism is located.

[0028] Rated operating altitude It is set according to the working height of the track climbing mechanism, and its minimum value is the altitude of the highest working place.

[0029] Step 3: Based on the finite element analysis model, the initial friction coefficient between the track climbing mechanism and the track to be climbed is obtained. The initial friction coefficient is corrected in combination with the climbing environment parameters to obtain the dynamic friction coefficient. The friction additional load is calculated based on the dynamic friction coefficient.

[0030] Based on the finite element analysis model, the initial friction coefficient between the track climbing mechanism and the track to be climbed is obtained. The initial friction coefficient is corrected in combination with the climbing environment parameters to obtain the dynamic friction coefficient. The logic for obtaining the initial friction coefficient is: the initial friction coefficient is determined by the structural material of the track climbing mechanism and the material of the track to be climbed. The formula for calculating the dynamic friction coefficient is: ; In the formula, is the initial friction coefficient, is the dynamic friction coefficient, is the rated ambient humidity, and is the weight coefficient of rated ambient humidity and ambient temperature, where and and Both are greater than 0.

[0031] Among them, the effect of ambient humidity on the friction coefficient is expressed by an exponential function: When humidity increases, the contact surface between materials may reduce friction due to the presence of moisture. Therefore, the ambient humidity is inversely proportional to the dynamic friction coefficient. This effect is usually nonlinear, so an exponential function is used to reflect the reduction of the friction coefficient due to changes in humidity.

[0032] The effect of ambient temperature on the coefficient of friction is represented by . Increased temperature typically causes changes in material properties, such as plastic deformation and changes in surface lubrication characteristics, which affect the coefficient of friction. The effect of changes in temperature on the coefficient of friction is relatively direct. Higher temperatures may cause materials to soften or change their physical properties, thereby increasing friction. As temperature increases, the coefficient of friction may increase.

[0033] Rated ambient humidity and rated ambient temperature The setting is usually determined based on the equipment's operating environment, industry standards, equipment design and material properties. The rated humidity of electrical equipment is usually based on international standards such as IEC 60068-2-78, which stipulates that the rated ambient humidity is usually 90% relative humidity. When running at high load, the rated operating temperature of the equipment may be set to 30°C to 40°C, and at low load, it can be extended to the range of -20°C to 60°C.

[0034] And because the influence of environmental humidity on friction is stronger and directly affects the friction force, so the setting and and Both are greater than 0.

[0035] The formula for calculating the additional friction load based on the dynamic friction coefficient is: ; In the formula, Additional load for friction.

[0036] Step 4: Based on the finite element analysis model, the vibration characteristic parameters of the overall mechanism of the track climbing mechanism during the climbing process are obtained, the vibration acceleration of the mechanism is calculated through the vibration characteristic parameters, and the vibration additional load is obtained based on the vibration acceleration calculation. The vibration characteristic parameters include the vibration frequency and amplitude of the mechanism.

[0037] The method for obtaining vibration characteristic parameters including the vibration frequency and amplitude of the mechanism is: performing modal analysis to extract the vibration frequency and vibration mode (vibration form) of the mechanism, selecting the modal analysis option in the analysis settings, and usually extracting the characteristic frequency and the corresponding vibration mode by selecting the required number of modes, and performing frequency response analysis, which can provide the system response within a specific frequency range, including the vibration amplitude.

[0038] Based on the finite element analysis model, the vibration characteristic parameters of the entire mechanism during the climbing process of the track climbing mechanism are obtained, and the vibration acceleration of the mechanism is calculated by the vibration characteristic parameters. The formula for calculating the vibration acceleration is: ; In the formula, is the effective value of vibration acceleration at N time points, is the vibration acceleration collected at the tth time point, is the total number of collected time points, t is the index of the time point, and ; The vibration acceleration The calculation is based on the formula: ; In the formula, is the rated vibration amplitude of the entire mechanism during the climbing process of the track climbing mechanism, It is the rated vibration frequency of the entire mechanism during the climbing process of the track climbing mechanism.

[0039] Indicates the maximum displacement at a certain moment, that is, the intensity of vibration. For a dynamic system, this amplitude changes with time, so it is used Indicates its change over time. As time goes by, the vibration frequency of the system may change, so it is characterized as , which directly affects the calculation of acceleration. It is an important factor of vibration acceleration, reflecting the effect of frequency on acceleration. The higher the frequency, the greater the acceleration. This represents the phase characteristic of acceleration. A cosine function is used instead of a displacement function.

[0040] in The initial vibration frequency collected is corrected based on the rated surface temperature of the mechanism. The specific formula is: ; In the formula, is the initial vibration frequency, is the temperature correction constant, is the rated surface temperature of the track climbing mechanism, is the standard reference temperature; As temperature increases, the elastic modulus of many materials decreases, which means that the material becomes softer and deforms more under the same stress. As temperature increases, the stiffness of the material decreases, resulting in an increase in the deformation of the material under the same load. This increase in deformation means that the natural frequency will decrease. As temperature increases, the internal friction of the material usually increases, resulting in a change in the damping characteristics. This may cause the vibration frequency to decay, affecting the persistence and amplitude of the vibration. Therefore, temperature and Inversely proportional, through Indicates the correction of vibration frequency at different temperatures.

[0041] Among them, the standard reference temperature The standard temperature is combined with the rated altitude of the track climbing mechanism. and rated wind speed To set it up, the specific formula is: ; In the formula, The standard temperature is usually 20 to 25 , where the rated altitude of the track climbing mechanism is and rated wind speed Standard reference temperature The specific reason is that the higher the altitude, the lower the average temperature, and the surface temperature of the track climbing mechanism can dissipate heat quickly. Therefore, in order to maintain the sensitivity of the correction, the standard reference temperature should be lowered. , wind speed versus standard reference temperature Similarly, the greater the wind speed, the better the heat dissipation effect. Therefore, it is necessary to lower the standard reference temperature , that is, wind speed The larger the standard reference temperature The smaller.

[0042] The formula for calculating the vibration additional load based on vibration acceleration is: ; In the formula, Additional load for vibration, For the quality of the institution itself, For the carrying quality of the institution.

[0043] Step 5: Calculate the acceleration load based on the movement acceleration of the track climbing mechanism during the climbing process, establish a mathematical analysis model, and determine the effective rated dynamic load of the track climbing mechanism by combining the vibration additional load, friction additional load, wind additional load and static load.

[0044] The acceleration load is calculated based on the movement acceleration of the track climbing mechanism during the climbing process, wherein the formula for calculating the acceleration load is: ; In the formula, is the acceleration load, is the rated moving acceleration of the track climbing mechanism, where the rated moving acceleration The required acceleration is determined according to the function, working nature and load conditions of the equipment. For example, a fast transmission system may require a higher acceleration, while a precision positioning device may require a smaller acceleration to ensure stability. The rated moving acceleration of the track climbing mechanism is generally set in the range of 1m / s² to 2m / s².

[0045] A mathematical analysis model is established to determine the effective rated dynamic load of the track climbing mechanism by combining the vibration additional load, friction additional load, wind additional load and static load. The formula for calculating the effective rated dynamic load of the track climbing mechanism is: ; In the formula, , and They are friction additional load, wind additional load and static load respectively.

[0046] The above formulas are all dimensionless and numerical calculations. The formula is a formula for the most recent real situation obtained by collecting a large amount of data and performing software simulation. The preset parameters in the formula are set by technicians in this field according to actual conditions.

[0047] The above embodiments may be implemented in whole or in part by software, hardware, firmware or any other combination thereof. When implemented by software, the above embodiments may be implemented in whole or in part in the form of a computer program product. Those skilled in the art may appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein may be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed by hardware or software methods depends on the specific application and design constraints of the technical solution.

[0048] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, and may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0049] The above description is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application.

Claims

1. A method for calculating the effective rated dynamic load of a track climbing mechanism based on finite element analysis, characterized in that: The specific steps include: Obtain the self-mass and carrying mass of the track climbing mechanism, establish a finite element analysis model, input the set self-mass and carrying load of the track climbing mechanism, and set the structural material and surface area of ​​the track climbing mechanism in the established model; Based on the mass of the track climbing mechanism and the carrying mass, the static load of the track climbing mechanism is calculated. Based on the surface area of ​​the track climbing mechanism, the effective windward area of ​​the track climbing mechanism during climbing is analyzed and obtained through the finite element analysis model. The additional wind load is calculated based on the effective windward area. The initial friction coefficient between the track climbing mechanism and the track to be climbed is obtained based on the finite element analysis model, and the initial friction coefficient is corrected in combination with the climbing environment parameters to obtain the dynamic friction coefficient, and the friction additional load is calculated based on the dynamic friction coefficient; The vibration characteristic parameters of the whole mechanism of the track climbing mechanism during the climbing process are obtained based on the finite element analysis model, the vibration acceleration of the mechanism is calculated through the vibration characteristic parameters, and the vibration additional load is obtained based on the vibration acceleration calculation, wherein the vibration characteristic parameters include the vibration frequency and amplitude of the mechanism; The acceleration load is calculated based on the movement acceleration of the track climbing mechanism during the climbing process, and a mathematical analysis model is established. The effective rated dynamic load of the track climbing mechanism is determined by combining the vibration additional load, friction additional load, wind additional load and static load.

2. The method for calculating the effective rated dynamic load of a track climbing mechanism based on finite element analysis according to claim 1 is characterized in that: A finite element analysis model is established, which specifically includes the following steps: creating a geometric model of the track climbing mechanism, determining the surface area of ​​the track climbing mechanism based on the geometric model, and defining the material properties of each component, including elastic modulus and Poisson's ratio, which are used to obtain the initial friction coefficient based on the material property parameters.

3. The method for calculating the effective rated dynamic load of a track climbing mechanism based on finite element analysis according to claim 1, characterized in that: Based on the mass of the track climbing mechanism itself and the carried mass, the static load of the track climbing mechanism is calculated, wherein the specific formula for calculating the static load of the track climbing mechanism is: ； In the formula, represents the static load of the track climbing mechanism, For the quality of the institution itself, is the rated carrying mass of the mechanism, is the acceleration due to gravity; Based on the surface area of ​​the track climbing mechanism, the effective windward area of ​​the track climbing mechanism during climbing is analyzed and obtained through the finite element analysis model. The formula for calculating the effective windward area is: ； In the formula, is the surface area of ​​the track climbing mechanism, is the rated wind direction angle, is the rated effective frontal area; The additional wind load is calculated based on the effective windward area, where the formula for calculating the additional wind load is: ； In the formula, Additional load for wind force, is the wind pressure, is the drag coefficient, where wind pressure The calculation is based on the formula: ； In the formula, is the air density, is the set rated wind speed, where the air density It is calculated by air pressure and ambient temperature. The specific calculation formula is: ； In the formula, For rated operating altitude The air pressure at is the ideal gas constant, is the rated ambient temperature, where the altitude is Air pressure at The calculation is based on the formula: ； In the formula, is the standard atmospheric pressure at sea level, is the molar mass of air, Indicates the rated altitude at which the track climbing mechanism is located.

4. The method for calculating the effective rated dynamic load of a track climbing mechanism based on finite element analysis according to claim 3 is characterized in that: Based on the finite element analysis model, the initial friction coefficient between the track climbing mechanism and the track to be climbed is obtained. The initial friction coefficient is corrected in combination with the climbing environment parameters to obtain the dynamic friction coefficient. The logic for obtaining the initial friction coefficient is: the initial friction coefficient is determined by the structural material of the track climbing mechanism and the material of the track to be climbed. The formula for calculating the dynamic friction coefficient is: ； In the formula, is the initial friction coefficient, is the dynamic friction coefficient, is the rated ambient humidity, and is the weight coefficient of rated ambient humidity and ambient temperature, where and and Both are greater than 0.

5. The method for calculating the effective rated dynamic load of a track climbing mechanism based on finite element analysis according to claim 4 is characterized in that: The formula for calculating the additional friction load based on the dynamic friction coefficient is: ； In the formula, Additional load for friction.

6. The method for calculating the effective rated dynamic load of a track climbing mechanism based on finite element analysis according to claim 1 is characterized in that: Based on the finite element analysis model, the vibration characteristic parameters of the entire mechanism during the climbing process of the track climbing mechanism are obtained, and the vibration acceleration of the mechanism is calculated by the vibration characteristic parameters. The formula for calculating the vibration acceleration is: ； In the formula, is the effective value of vibration acceleration at N time points, is the vibration acceleration collected at the tth time point, is the total number of collected time points, t is the index of the time point, and ; The vibration acceleration The calculation is based on the formula: ； In the formula, is the rated vibration amplitude of the entire mechanism during the climbing process of the track climbing mechanism, is the rated vibration frequency of the entire mechanism during the climbing process of the track climbing mechanism, where The initial vibration frequency collected is corrected based on the rated surface temperature of the mechanism. The specific formula is: ； In the formula, is the initial vibration frequency, is the temperature correction constant, is the rated surface temperature of the track climbing mechanism, is the standard reference temperature; The formula for calculating the vibration additional load based on vibration acceleration is: ； In the formula, Additional load for vibration, For the quality of the institution itself, For the carrying quality of the institution.

7. The method for calculating the effective rated dynamic load of a track climbing mechanism based on finite element analysis according to claim 6, characterized in that: The acceleration load is calculated based on the movement acceleration of the track climbing mechanism during the climbing process, wherein the formula for calculating the acceleration load is: ； In the formula, is the acceleration load, is the rated moving acceleration of the track climbing mechanism; A mathematical analysis model is established to determine the effective rated dynamic load of the track climbing mechanism by combining the vibration additional load, friction additional load, wind additional load and static load. The formula for calculating the effective rated dynamic load of the track climbing mechanism is: ； In the formula, , and They are friction additional load, wind additional load and static load respectively.

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