【摘要】：破拆機(jī)器人能適應(yīng)高危環(huán)境、工作質(zhì)量高,被廣泛用于城市基礎(chǔ)設(shè)施建設(shè)、建筑物拆除及災(zāi)害救援等工作。本文以面向?yàn)?zāi)害救援和多種作業(yè)遙控破拆機(jī)器人為研究對(duì)象,對(duì)其以能耗最小為目標(biāo)和滿足多種工況的要求同時(shí)考慮節(jié)能安全與可靠性的液壓系統(tǒng)進(jìn)行設(shè)計(jì),使得遙控破拆機(jī)器人能在在各類災(zāi)害環(huán)境實(shí)現(xiàn)破拆、挖掘、剪切、搬運(yùn)和快速更換屬具等功能。并對(duì)其液壓系統(tǒng)靜動(dòng)態(tài)特性進(jìn)行研究,為大型遙控破拆機(jī)器人的液壓系統(tǒng)設(shè)計(jì)優(yōu)化提供依據(jù),對(duì)以后應(yīng)用現(xiàn)代設(shè)計(jì)方法開發(fā)系列化的大型遙控破拆機(jī)器人提供一定的參考。首先,本文對(duì)比分析了典型破拆機(jī)器人液壓系統(tǒng)的特點(diǎn)及不足,確定采用負(fù)載敏感系統(tǒng)與多路閥組合的方案,改進(jìn)并設(shè)計(jì)出一套遙控破拆機(jī)器人液壓系統(tǒng),使得遙控破拆機(jī)器人能在各種災(zāi)害環(huán)境下進(jìn)行破拆、挖掘、剪切、搬運(yùn)等作業(yè)并具有良好工作性能。并對(duì)液壓系統(tǒng)中液壓缸、回轉(zhuǎn)馬達(dá)、行走馬達(dá)、液壓泵、多路閥和液壓輔件等進(jìn)行計(jì)算與選型。其次,本文采用AMESim建立液壓系統(tǒng)中典型液壓元件模型并組建系統(tǒng)仿真模型,由仿真分析驗(yàn)證模型的正確性,采用Solidworks創(chuàng)建遙控破拆機(jī)器人實(shí)體模型,并將其導(dǎo)入ADAMS創(chuàng)建相應(yīng)的動(dòng)力學(xué)仿真模型。整合遙控破拆機(jī)器人液壓系統(tǒng)AMESim模型和ADAMS動(dòng)力學(xué)模型形成聯(lián)合仿真模型,對(duì)大臂、二臂和三臂復(fù)合動(dòng)作、單獨(dú)動(dòng)作過程以及平臺(tái)回轉(zhuǎn)和三臂的復(fù)合動(dòng)作過程進(jìn)行聯(lián)合仿真研究,分析不工況下的能耗和效率。此外,以二臂外伸過程為研究對(duì)象,研究系統(tǒng)的動(dòng)態(tài)特性及不同參數(shù)對(duì)系統(tǒng)動(dòng)態(tài)特性的影響。最后,針對(duì)本文所設(shè)計(jì)液壓系統(tǒng)在負(fù)載敏感泵出口流量不能滿足負(fù)載所需流量時(shí)系統(tǒng)出現(xiàn)流量飽和,無法按各執(zhí)行機(jī)構(gòu)多路閥節(jié)流閥口開度成比例地分配流量,致使流量優(yōu)先流入負(fù)載較小的執(zhí)行機(jī)構(gòu),而負(fù)載較大的執(zhí)行機(jī)構(gòu)會(huì)因流量過小而導(dǎo)致速度下降甚至停滯,進(jìn)而嚴(yán)重影響執(zhí)行機(jī)構(gòu)復(fù)合動(dòng)作協(xié)調(diào)性的問題,提出了一種基于流量計(jì)算的方法用于實(shí)現(xiàn)系統(tǒng)的抗流量飽和,確保復(fù)合動(dòng)作協(xié)調(diào)性,并采用仿真與分析的方法來研究所提流量計(jì)算法的抗流量飽和效果。
[Abstract]:The demolition robot can adapt to high risk environment and has high quality. It is widely used in urban infrastructure construction, building demolition and disaster rescue. In this paper, taking disaster rescue and remote control demolition robot as the research object, the hydraulic system, which takes the minimum energy consumption as its target and meets the requirements of various working conditions, is designed, which takes into account the safety and reliability of energy saving at the same time. The remote control robot can realize the functions of breaking, digging, cutting, transporting and changing the tools quickly in all kinds of disaster environments. The static and dynamic characteristics of the hydraulic system are studied to provide the basis for the optimization of the hydraulic system design of the large-scale remote-controlled demolition robot and to provide a certain reference for the application of modern design methods in the development of serial large-scale remote-controlled breaking and dismantling robot. First of all, this paper compares and analyzes the characteristics and shortcomings of the typical broken robot hydraulic system, and determines to adopt the combination of load sensitive system and multi-way valve to improve and design a set of remote control broken robot hydraulic system. The remote control robot can break down, excavate, cut and move in various disaster environments and has good working performance. The hydraulic cylinder, rotary motor, walking motor, hydraulic pump, multi-way valve and hydraulic auxiliary parts are calculated and selected. Secondly, the typical hydraulic component model in hydraulic system is established by AMESim and the simulation model is set up. The correctness of the model is verified by simulation analysis, and the entity model of remote control broken robot is created by Solidworks. The corresponding dynamic simulation model is created by importing it into ADAMS. The AMESim model and ADAMS dynamic model of the hydraulic system of the remote-controlled demolition robot are integrated to form the joint simulation model. The combined action of the arm, the two-arm and the three-arm, the single action process and the complex movement process of the platform and the three-arm are studied. The energy consumption and efficiency under non-working conditions are analyzed. In addition, the dynamic characteristics of the system and the influence of different parameters on the dynamic characteristics of the system are studied. Finally, the hydraulic system designed in this paper is unable to distribute the flow according to the throttle opening of various actuators when the outlet flow of the load sensitive pump can not meet the required flow rate of the load. As a result, the flow is given priority to the executing agencies with small loads, while the larger ones will cause the speed to drop or even stagnate because the flow is too small, which will seriously affect the coordination of the complex actions of the executing agencies. In this paper, a method based on flow calculation is proposed to realize the anti-flow saturation of the system and to ensure the coordination of the composite action. The anti-saturation effect of the proposed method is studied by simulation and analysis.
【學(xué)位授予單位】：安徽工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TH137;TP242

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本文編號(hào)：2386676