摘要
针对井下巷道支护人工打锚索安全性差且效率低的问题,锚杆钻机设计新增了锚杆机械臂。根据机械臂的实际尺寸建立了三维模型,并且以机器臂设计运动学理论为基础,推导出锚杆钻机机械臂动力学方程。由于锚杆钻机机械臂在实际运动下受力相对复杂,并且对整机稳定性有较大的影响,故将机器臂的虚拟样机模型导入多体动力学软件ADAMS中进行动力学仿真,观察钻架在恒定外负载作用下,通过调整两个油缸之间的行程是否能实现钻架在整个工作空间的所有工作位置,找到整机在不同姿态打锚索时的最恶劣工况,查看该工况下油缸受力变化及伸缩臂受力状况。在仿真时刻3s时,机械臂升降油缸受力超过该油缸的许用极限抗压力1.9×10~5 N,需要运用Ansys Work Bench对伸缩臂承受扭转力较大处进行扭转静强度校核,以保证机械臂的动力学需求,为日后"工业机械臂"动力学分析提供一定的理论基础和实践经验。
Aiming at the problem of poor safety and low efficiency of artificial anchor cabling in underground roadway support,the cable rig has been designed to automatically hit the manipulator arm.On the basis of the actual size of the mechanical arm and the kinematics theory of robot arm,this paper established the dynamic equations of the mechanical arm of the cable rig.Owing to the relative complexity of the mechanical arm of the bolt drill,the mechanical arm has a great influence on the stability of the whole machine.The virtual prototype model of the machine arm was introduced into multi-body the dynamics software ADAMS for dynamics simulation,the drill stand at a constant external load was observed to judge,by adjusting the schedule between the two oil cylinders,whether the drill stand can realize all the working position in the whole working space,to find the worst working condition for anchoring in different poses,and to check the working conditions of oil cylinder force change and the stress state of telescopic boom.At 3 s in the simulation time,the mechanical arm lifting oil cylinder force is over the allowable ultimate tensile stress,1.9×10 5 N.Therefore,Ansys Work Bench was used to check the torsional static strength for the reverse telescopic arm with strong torque,so as to ensure the dynamic demand of mechanical arm.This research provides some theoretical foundation and practical experience for future"industrial mechanical arm"dynamics analysis.
作者
张君
黄庆学
孟文俊
马立峰
ZHANG Jun;HUANG Qingxue;MENG Wenjun;MA Lifeng(School of Mechanical Engineering,Taiyuan University of Science and Technology,Taiyuan 030024,China;Taiyuan Institude of China Coal Technology Engineering Group,Taiyuan 030006,China;The Coordinative Innovation Center of Taiyuan Heavy Machinery Equipment,Taiyuan University of Science and Technology,Taiyuan 030024,China)
出处
《太原理工大学学报》
CAS
北大核心
2018年第4期559-565,共7页
Journal of Taiyuan University of Technology
基金
国家自然科学基金资助项目(51575370)
山西省研究生优秀创新项目(2017BY119)
