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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。
Robot as a key part of the ZKL-4000SY automatic drilling rig, jitter occurs due to its own weight during the swing with reduced inclination. Through the AMESim modeling and simulation of hydraulic system of manipulator tilt angle adjustment, the balance valve, throttle valve, balance valve and throttling valve are respectively used on the oil return line for simulation analysis. By comparing the simulation curves, it can be seen that the balance valve and the throttle valve can greatly reduce the jitter of the robot arm. However, when the throttle valve and the balance valve are connected in series to the oil return line, the best effect can be obtained and the jitter can be eliminated. Experimental results and simulation results are basically the same, because the arm swing increased when the oil back pressure, you need a higher driving pressure.