摘要
针对液压重载机械臂刚-柔耦合特性对机构设计带来的巨大挑战,采用动力学分析对机械臂进行了仿真,并提取了关节载荷谱。在综合考虑关节轴圆角、台阶位置、台阶结构等多种因素影响的基础上,完成了平摆关节的结构非线性分析和优化设计,有效提升了关节强度和安全系数。经现场应用验证,关节优化后的液压重载机械臂在额定负载下运行良好,满足了实际作业需求。
In view of the great challenge to the mechanism design brought by the rigid-flexible coupling characteristics of the hydraulic heavy-duty manipulator,the manipulator was simulated and the joint load spectra was extracted by using dynamic analysis techniques.At the same time,on the basis of comprehensive consideration of joint shaft fillet,step position,step structure and other factors,the structural nonlinear analysis and optimization design of pendulum joint were completed,which effectively improved the joint strength and safety factor.The field application showed that the optimized hydraulic heavy-duty manipulator ran smoothly and well under the rated load and met the actual operation requirements.
作者
杨柳松
王富勇
郝兵
王银洲
赵魏
符惜炜
YANG Liusong;WANG Fuyong;HAO Bing;WANG Yinzhou;ZHAO Wei;FU Xiwei(Luoyang Mining Machinery Engineering Design Institute Co.,Ltd.,Luoyang 471039,Henan,China;State Key Laboratory of Intelligent Mining Heavy Equipment,Luoyang 471039,Henan,China;CITIC Heavy Industries Co.,Ltd.,Luoyang 471039,Henan,China;Xuchang Electrical Vocational College,Xuchang 461000,Henan,China)
出处
《矿山机械》
2023年第7期63-68,共6页
Mining & Processing Equipment
基金
国家重点研发计划项目“液压重载机械臂关键技术研究与应用验证”(2017YFB1302100)。
关键词
液压重载机械臂
刚-柔耦合
关节优化
hydraulic heavy-duty manipulator
rigid-flexible coupling
joint optimization