基于AMESim的ZKL-4000SY自动钻机机械手倾角调节系统研究

Research on manipulator obliquity control system of ZKL-4000SY automatic drill based on AMESim

机械手作为ZKL-4000SY自动钻机的关键部件,在倾角减小的摆动中因自重会产生抖动现象。通过对机械手倾角调节液压系统进行AMESim建模和仿真,在回油油路上分别设置平衡阀、节流阀及平衡阀与节流阀同时使用的情况下进行仿真分析。通过对比仿真曲线,可以看出:平衡阀和节流阀均可大幅减轻机械手臂的抖动,但将节流阀与平衡阀串联在回油油路上则可以取得最佳效果,消除抖动。试验研究结果与仿真结果基本一致,因机械手臂摆动时增加了回油背压,则需要更高的驱动压力。

Manipulator is the key component of ZKL-4000SY automatic drill; it shakes due to its gravity during swing with obliquity decrease. After the manipulator obliquity control hydraulic system was modeled based on AMESim, the simulation was conducted at the return circuit equipped with balancing valve, throttling valve as well as both the above valves respectively. The comparison of the simulation curves showed the application of the balancing valve or the throttling valve greatly reduced the shaking of the manipulator, while the application of both the valves brought about the optimal shaking relief. Test study showed the test results were basically identical with the simulation results, since the return back pressure increased due to the swing of the manipulator, thus higher driving pressure was needed.