基于EDEM的皮带式推料机器人推料仿真与试验研究

兰望娇; 张希升; 任建华; 张姬; 杨庆璐; 于镇伟; 田富洋; 于素芳

doi:10.7671/j.issn.1001-411X.202404011

基于EDEM的皮带式推料机器人推料仿真与试验研究

Pushing simulation and experimental research of belt pusher robot based on EDEM

摘要

摘要:
目的推料机的推料效果是牧场推料机器人性能的一个重要指标，为得出皮带式推料机器人最佳作业参数，研究推料机器人作业参数对推送率和推送效率的影响，本文基于EDEM软件对推料机器人推料过程进行模拟仿真分析。
方法基于离散元法，通过试验与仿真标定得出TMR饲料间、饲料与接触装置间的接触参数；运用EDEM软件建立3种离散单元物料颗粒的Hertz-Mindlin接触模型，以皮带式推料机装置的推料角度、皮带速度、前进速度作为试验因素，以推送率和推送效率作为评价指标，采用三因素三水平的正交试验方法进行推料仿真试验研究。通过实际试验对仿真结果进行验证。以推料机的推送率和推料效率最大为目标值，通过响应面进行优化求解。
结果仿真试验结果表明：本文推料机理论最优作业参数组合为推料角度30°、皮带速度2.99 m/s、前进速度0.83 m/s时，推送率为94.6%，推送效率为724.5 kg/min。对于推送率而言，皮带速度和前进速度对其影响极显著(P<0.01)，推料角度的影响显著(P<0.05)；对于推送效率而言，皮带速度和前进速度对其影响极显著(P<0.01)，推料角度对其影响不明显(P>0.05)。
结论本研究验证了推料机结构的合理性，为自动推料机器人推料作业参数组合提供了参考。

Abstract:
Purpose The pushing effect of the pushing machine is an important indicator of the performance of the ranch pushing robot. In order to obtain the optimal operating parameters of the belt pushing robot and study the influence of the operating parameters of the pushing robot on the pushing rate and efficiency, this paper used EDEM software to simulate and analyze the pushing process of the pushing robot.
Method Based on the discrete element method, the contact parameters between TMR feed, as well as feed and contact device were obtained through experiment and simulation calibration. The EDEM software was used to establish Hertz- Mindlin contact models for three types of discrete unit material particles. The pushing angle, belt speed, and forward speed of the belt type pushing machine device were used as experimental factors, and the pushing rate and efficiency were used as evaluation indicators. A three-factor and three-level orthogonal experimental method was used to conduct pushing simulation experiments. The simulation results were verified through actual experiments. With the maximum pushing rate and efficiency of the pusher as the target values, optimization was carried out through response surface methodology.
Result The simulation test results showed that when the theoretical optimal operating parameter combination of the pusher in this paper was a pushing angle of 30°, a belt speed of 2.99 m/s, and a forward speed of 0.83 m/s, the pushing rate was 94.6%, and the pushing efficiency was 724.5 kg/min. For pushing rate index, the influence of belt speed and forward speed was extremely significant (P<0.01), and the influence of pushing angle was significant (P<0.05). For pushing efficiency, the influence of belt speed and forward speed was extremely significant (P<0.01), while the influence of pushing angle was not significant (P>0.05)
Conclusion The study verifies the rationality of the pushing machine structure, and provides a reference for the combination of pushing operation parameters of automatic pushing robots.

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