混凝土湿喷机械手设计与研究

发布时间：2018-02-24 04:40

本文关键词： 湿喷机机械手设计运动仿真强度分析控制开发　出处：《湖南大学》2015年硕士论文　论文类型：学位论文

【摘要】：随着我国基础建设步伐的进一步加快,混凝土湿喷技术越来越多的在大型工程中应用,其相对干喷工艺具有高效、经济效益好等优越性。混凝土湿喷机械在中国的起步较晚,设备的可靠性等相关技术还不够成熟,其发展前景可观。混凝土湿喷机械手的性能直接决定了施工的效果,因此很有必要对混凝土湿喷机械相关技术进行研究。本文的主要研究内容有:(1)针对当前国内混凝土湿喷机械手的不足之处,讨论了混凝土湿喷机将来的发展方向。从混凝土湿喷机械手的总体设计要求出发,分析了当前机械手模型,采用了六动作机械手模型作为原型,确定了混凝土湿喷机械手的运动参数,利用Solidworks软件对主要部件进行了建模;(2)建立了混凝土湿喷机械手的运动学方程,利用Math CAD对简化机械手模型运动空间求解得到湿喷机械手的运动空间并仿真,基于Solidworks对机械手进行运动学仿真并与设计值进行比较;(3)运用ANSYS Workbench对关键部分的小臂和中臂进行了强度校核,针对臂架铰链处容易产生应力集中的情况,进行了理论分析并得到了改进的结果;(4)分析了混凝土湿喷机械手的遥控控制系统,采用了优于传统方法的控制流程,从混凝土湿喷机械手的需求出发,利用控制器开发工具Co De Sys对混凝土湿喷机械手工作动作进行编程实现,最后对设计的混凝土湿喷机械手进行了相关测试并分析。
[Abstract]:With the further acceleration of the pace of infrastructure construction in China, the wet shotcrete technology is more and more used in large-scale projects, which has the advantages of high efficiency and good economic benefit compared with the dry spraying technology. The wet shotcreting machinery of concrete starts late in China. The reliability of the equipment and other related technologies are not mature enough, and the development prospect is considerable. The performance of the wet shotcrete manipulator directly determines the construction effect. Therefore, it is necessary to study the related technology of wet shotcrete machinery. The main research content of this paper is: 1) aiming at the shortcomings of domestic wet shotcrete manipulator, This paper discusses the future development direction of the concrete wet shotcrete machine. Based on the general design requirements of the concrete wet shotcrete manipulator, the current manipulator model is analyzed, and the six-action manipulator model is used as the prototype. The kinematic parameters of the wet shotcrete manipulator are determined, and the kinematics equations of the wet shotcrete manipulator are established by using Solidworks software to model the main components. Using Math CAD to solve the motion space of simplified manipulator model, the motion space of wet jet manipulator is obtained and simulated. The kinematics simulation of manipulator based on Solidworks is carried out and compared with the design value. ANSYS Workbench is used to check the strength of the forearm and the middle arm of the key parts. The stress concentration is easily produced at the hinge of the arm. The paper analyzes the remote control system of the wet shotcrete manipulator by using the control flow which is superior to the traditional method, and starts from the demand of the wet shotcrete manipulator. The controller development tool Co de Sys is used to program the working action of the wet shotcrete manipulator. Finally, the related test and analysis of the designed wet shotcrete manipulator are carried out.
【学位授予单位】：湖南大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TU64

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