自适应液压工程夹持器的设计与研究

发布时间：2018-01-27 16:04

本文关键词： 自适应控制液压系统夹持器 PLC控制 OPC技术　出处：《青岛科技大学》2013年硕士论文　论文类型：学位论文

【摘要】：随着施工过程中机械化水平的提高,挖掘机得到了广泛地应用,在其应用过程中,根据不同的作业类型,需要配置相对应的前端执行器。在工程实际中经常需要对大质量物体进行装卸、安装、转移等。然而针对这些作业类型,挖掘机缺少相应的前端执行器。为此本课题设计了一种新型的自适应液压工程夹持器,并对其设计过程和实现方法进行了研究。本课题以自适应液压工程夹持器为设计对象,根据夹持器的结构和功能,从机械结构、液压系统、控制系统和滑移检测系统四个部分进行研究和展开。首先介绍了课题提出的背景、意义,以及相关技术在国内外的发展现状。然后对液压工程夹持器的整体设计要求进行了分析,确定了工作载荷、基本尺寸和控制要求,并根据夹持器的工作行程,所夹持的物体形状以及执行器的工作方式,设计夹持器的机械原理图,对主要零部件进行了三维设计和校核。分析了液压系统的功能,确定了系统的主要参数,并拟定了液压系统原理图。在夹持器的控制方面,分析了控制系统要求,编制了相应的PLC控制程序。在夹持器的设计中引入了基于滑移信号的自适应压力控制,使得夹持器能够根据被夹持物体的重力和表面状况调整夹持回路的系统压力,从而达到稳固夹持的目的。通过本课题的设计和研究,完成了自适应液压工程夹持器的基本设计。另外在设计过程中所用到的计算机辅助设计技术、Visual Basic与OPC服务器的连接方法、KEPserverEX与PLC的通信,以及PLC控制技术,可以为相关产品的设计提供参考。
[Abstract]:With the improvement of mechanization level in the construction process, excavators have been widely used. In the process of application, according to different types of operations. Need to configure the corresponding front-end actuators. In engineering practice, it is often necessary to load and unload, install, transfer, etc. However, for these types of operations. In this paper, a new type of adaptive hydraulic engineering gripper is designed, and its design process and implementation method are studied. Based on the structure and function of the self-adaptive hydraulic engineering gripper, this subject is based on the mechanical structure and hydraulic system. Four parts of the control system and slip detection system are studied and developed. Firstly, the background and significance of the subject are introduced. Then the overall design requirements of the hydraulic engineering gripper are analyzed, and the working load, basic dimensions and control requirements are determined, and according to the working itinerary of the gripper. The shape of the clamped object and the working mode of the actuator, the mechanical schematic diagram of the gripper, the 3D design and verification of the main parts are carried out. The function of the hydraulic system is analyzed and the main parameters of the system are determined. The schematic diagram of hydraulic system is drawn up. The requirements of control system are analyzed in the control of gripper. The corresponding PLC control program is worked out, and the adaptive pressure control based on slip signal is introduced into the design of gripper. The gripper can adjust the system pressure of the clamping loop according to the gravity and surface condition of the clamped object, so as to achieve the purpose of stable clamping. Through the design and research of this topic, the basic design of adaptive hydraulic engineering gripper is completed. In addition, the computer aided design technology is used in the design process. The connection method between Visual Basic and OPC server, the communication between KEPserverEX and PLC, and the PLC control technology can provide reference for the design of related products.
【学位授予单位】：青岛科技大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：TU621;TH137

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