扶正机械手推送油管的机液联合仿真分析

Mechanical-hydraulic Co-simulation Analysis on Righting Manipulator Pushing Oil Tube Process

扶正机械手将油管顺利推送到所需区域是保证油管顺利移运、排放的关键。为找到合适游动滑车运动速度,保证油管与扶正机械手不发生脱离,以及油管与斜坡不发生干涉,利用三维软件SolidWorks和ADAMS软件建立了该系统的机液一体化虚拟样机。在游动滑车的不同速度下,对扶正机械手推送油管过程进行了仿真分析,得出游动滑车以0.2 m/s速度向上运动是最合理的,并得到了该速度下的液压缸作用力变化曲线,及连接座固定副反作用力变化曲线,为实际系统的分析与设计奠定了基础。

During the working process of righting manipulator pushing oil tube system,the righting manipulator push oil tube to the desired area which is the key to ensure smooth movement and emission of oil tube,in order to ensure the oil tube not detachment from the righting manipulator and the oil tube not interfere with slope,a suitable swimming velocity of travelling block must be found.The integration of mechanism and fluid virtual prototype of righting manipulator push oil tube system was established by the use of SolidWorks 3D software and ADAMS software.the simulations and analysis of righting manipulator pushing oil pipe process were completed under different velocities of travelling block,the most reasonable and ideal velocity of the travelling block was obtained,which was upward with 0.2 m/s,the hydraulic cylinder force curve and connecting blocks vice-reaction curve under this velocity were also obtained,the foundation for the analysis and designation of actual system was laid by these curves.