遥控破拆机器人液压系统设计及静动态特性研究
发布时间：2018-12-19 08:33
【摘要】：破拆机器人能适应高危环境、工作质量高,被广泛用于城市基础设施建设、建筑物拆除及灾害救援等工作。本文以面向灾害救援和多种作业遥控破拆机器人为研究对象,对其以能耗最小为目标和满足多种工况的要求同时考虑节能安全与可靠性的液压系统进行设计,使得遥控破拆机器人能在在各类灾害环境实现破拆、挖掘、剪切、搬运和快速更换属具等功能。并对其液压系统静动态特性进行研究,为大型遥控破拆机器人的液压系统设计优化提供依据,对以后应用现代设计方法开发系列化的大型遥控破拆机器人提供一定的参考。首先,本文对比分析了典型破拆机器人液压系统的特点及不足,确定采用负载敏感系统与多路阀组合的方案,改进并设计出一套遥控破拆机器人液压系统,使得遥控破拆机器人能在各种灾害环境下进行破拆、挖掘、剪切、搬运等作业并具有良好工作性能。并对液压系统中液压缸、回转马达、行走马达、液压泵、多路阀和液压辅件等进行计算与选型。其次,本文采用AMESim建立液压系统中典型液压元件模型并组建系统仿真模型,由仿真分析验证模型的正确性,采用Solidworks创建遥控破拆机器人实体模型,并将其导入ADAMS创建相应的动力学仿真模型。整合遥控破拆机器人液压系统AMESim模型和ADAMS动力学模型形成联合仿真模型,对大臂、二臂和三臂复合动作、单独动作过程以及平台回转和三臂的复合动作过程进行联合仿真研究,分析不工况下的能耗和效率。此外,以二臂外伸过程为研究对象,研究系统的动态特性及不同参数对系统动态特性的影响。最后,针对本文所设计液压系统在负载敏感泵出口流量不能满足负载所需流量时系统出现流量饱和,无法按各执行机构多路阀节流阀口开度成比例地分配流量,致使流量优先流入负载较小的执行机构,而负载较大的执行机构会因流量过小而导致速度下降甚至停滞,进而严重影响执行机构复合动作协调性的问题,提出了一种基于流量计算的方法用于实现系统的抗流量饱和,确保复合动作协调性,并采用仿真与分析的方法来研究所提流量计算法的抗流量饱和效果。
[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.
【学位授予单位】：安徽工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TH137;TP242
本文编号：2386676
[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.
【学位授予单位】：安徽工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TH137;TP242
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