煤矿管道安装机器人机械臂机液联合仿真研究

Research on Joint Machine-hydraulic Co-simulation of Coal Minepipeline Installationrobot Manipulator

针对煤矿管道安装机器人机械臂管道下放工作阶段的大臂、中臂和小臂液压缸爬行问题,利用AMESim和Simcenter 3D软件建立机液联合仿真模型,依据设定的仿真工况,利用仿真分析平衡回路液压缸产生爬行现象的原因。对平衡回路进行改进,改进后验证结果表明:合理选配各臂平衡阀先导阻尼直径、调压弹簧刚度和先导比可使抓管机械臂管道下放工作阶段基本消除爬行现象,进行较为平稳的工作。

Aiming at the crawling problem of the big arm,middle arm and small arm hydraulic cylinder in the working stage of the pipeline lowering work stage of the coal mine pipeline installation robot manipulator,AMESim and Simcenter 3D software are used to establish a Machine-hydraulic co-simulation model,Using simulation to analyse the causes of crawling in balanced circuit hydraulic cylinders.The balancing circuit has been improved,and the results of this improvement show that a reasonable combination of the pilot damping diameter of the balancing valves,the regulating spring stiffness and the pilot ratio of each arm can basically eliminate the crawling phenomenon during the lowering phase of the pipe gripping robot arm,and enable it to work more smoothly.