四自由度电液控制运动平台的研制
发布时间：2018-10-26 22:06
【摘要】：随着机械化和自动化技术的发展,悬挂物挂装技术逐渐由原来的人力挂装、半机械化挂装发展到了机械化挂装,并且正在逐步实现自动化挂装,尤其是迅速崛起的具有单位体积功率大和传动平稳等特点的液压技术,极大地推动了这一过程的发展。 本论文研制的是一种可安装在移动车辆上的四自由度电液控制运动平台,该运动平台结构紧凑,采用电液比例控制各个自由度运动,可在一定范围内对负载进行位置和姿态调整,安装在移动车辆上后可以完成对悬挂物的机械化挂装,提高了作业效率。论文的主要内容如下： 第一章,简要陈述了四自由度电液控制运动平台的应用背景,综述了挂装用多自由度运动平台的国内外研究现状,提出了论文的研究内容和研究意义。 第二章,论述了四自由度电液控制运动平台的总体方案设计和运动平台的构成,并结合三维设计软件SolidWorks对四自由度电液控制运动平台进行了整体布局设计。 第三章,设计了四自由度电液控制运动平台的液压系统,分析了纵移回路、横移回路、俯仰回路和回转回路的工作原理；详细设计了液压系统的执行元件的结构,包括纵移液压缸、横移液压缸、俯仰液压缸和摆动液压缸等,尤其是比较分析了键联接和胀套联接两种摆动液压缸输出轴与轮毂的联接方式；对液压阀等元件进行了参数计算和选型分析；结合AMESim仿真软件分析了液压系统的特性,为样机的调试提供了指导。 第四章,阐述了四自由度电液控制运动平台的机械系统的构成,介绍了机械系统的设计过程,选择了机械系统元部件的材料,对交叉滚子导轨进行了选型分析、安全系数和寿命分析,尤其是根据运动平台功能和结构紧凑性要求,设计了新型的具有方形外观的回转支承,并计算了回转支承的摩擦阻力矩,利用ANSYS软件校核分析了机械系统的关键元件的结构,分析了关键元件的最大变形和安全系数；建立了四自由度电液控制运动平台的控制系统,介绍了比例放大板的控制方法和整个控制系统的构成及控制电路； 第五章,开展了四自由度电液控制运动平台样机的试验研究,并在试验的基础上优化了液压系统,分析了四自由度电液控制运动平台在横移运动、纵移运动、回转运动时的摩擦力情况和俯仰运动时负载的变化情况。 第六章,总结了全文,提出了下一步的工作展望。
[Abstract]:With the development of mechanization and automation technology, the hanging technology of hanging objects has gradually changed from the original manual to the semi-mechanized, and is gradually realizing the automatic hoisting. Especially the rapid rise of hydraulic technology with the characteristics of large unit volume power and smooth transmission greatly promotes the development of this process. In this paper, a four-degree-of-freedom electro-hydraulic motion control platform is developed, which can be mounted on a mobile vehicle. The motion platform is compact in structure and adopts electro-hydraulic proportional control of the motion of each degree of freedom. The position and posture of the load can be adjusted within a certain range, and the mechanization of the suspension can be completed after installing on the moving vehicle, and the working efficiency can be improved. The main contents of this paper are as follows: in chapter 1, the application background of four degrees of freedom electro-hydraulic control motion platform is briefly stated, and the current research situation of multi-degree-of-freedom motion platform in China and abroad is summarized. The research content and significance of the thesis are put forward. In the second chapter, the overall scheme design and the structure of the motion platform of four degrees of freedom electro-hydraulic control are discussed, and the overall layout of the four-degree-of-freedom electro-hydraulic control motion platform is designed in combination with the three-dimensional design software SolidWorks. In the third chapter, the hydraulic system of a four-degree-of-freedom electro-hydraulic motion control platform is designed, and the working principles of the longitudinal, transverse, pitching and rotary circuits are analyzed. The structure of the actuators of the hydraulic system is designed in detail, including the longitudinal hydraulic cylinder, the transverse hydraulic cylinder, the pitching cylinder and the oscillating hydraulic cylinder, etc. In particular, two kinds of connection modes of swing hydraulic cylinder output shaft and hub are compared and analyzed between the key connection and the expansion sleeve connection. The parameter calculation and type selection analysis of hydraulic valve and other components are carried out, and the characteristics of hydraulic system are analyzed with AMESim simulation software, which provides guidance for the debugging of the prototype. In the fourth chapter, the structure of the mechanical system of the four degrees of freedom electro-hydraulic control platform is described, the design process of the mechanical system is introduced, the material of the components of the mechanical system is selected, and the type selection of the cross roller guide rail is analyzed. Safety factor and life analysis, especially according to the requirements of motion platform function and structure compactness, a new type of slewing bearing with square appearance is designed, and the friction resistance moment of slewing bearing is calculated. ANSYS software is used to check and analyze the structure of the key components of the mechanical system, and the maximum deformation and safety factor of the key components are analyzed. The control system of a four-degree-of-freedom electro-hydraulic control platform is established. The control method of the proportional amplifier board and the constitution and control circuit of the whole control system are introduced. In the fifth chapter, the experimental research on the prototype of the four-degree-of-freedom electro-hydraulic control motion platform is carried out, and the hydraulic system is optimized on the basis of the experiment, and the movement of the four-degree-of-freedom electro-hydraulic control motion platform in the transverse and longitudinal motion is analyzed. The friction force and the load change in the rotation motion and the pitching motion. The sixth chapter summarizes the full text and puts forward the future work prospect.
【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH137.9
本文编号：2297071
[Abstract]:With the development of mechanization and automation technology, the hanging technology of hanging objects has gradually changed from the original manual to the semi-mechanized, and is gradually realizing the automatic hoisting. Especially the rapid rise of hydraulic technology with the characteristics of large unit volume power and smooth transmission greatly promotes the development of this process. In this paper, a four-degree-of-freedom electro-hydraulic motion control platform is developed, which can be mounted on a mobile vehicle. The motion platform is compact in structure and adopts electro-hydraulic proportional control of the motion of each degree of freedom. The position and posture of the load can be adjusted within a certain range, and the mechanization of the suspension can be completed after installing on the moving vehicle, and the working efficiency can be improved. The main contents of this paper are as follows: in chapter 1, the application background of four degrees of freedom electro-hydraulic control motion platform is briefly stated, and the current research situation of multi-degree-of-freedom motion platform in China and abroad is summarized. The research content and significance of the thesis are put forward. In the second chapter, the overall scheme design and the structure of the motion platform of four degrees of freedom electro-hydraulic control are discussed, and the overall layout of the four-degree-of-freedom electro-hydraulic control motion platform is designed in combination with the three-dimensional design software SolidWorks. In the third chapter, the hydraulic system of a four-degree-of-freedom electro-hydraulic motion control platform is designed, and the working principles of the longitudinal, transverse, pitching and rotary circuits are analyzed. The structure of the actuators of the hydraulic system is designed in detail, including the longitudinal hydraulic cylinder, the transverse hydraulic cylinder, the pitching cylinder and the oscillating hydraulic cylinder, etc. In particular, two kinds of connection modes of swing hydraulic cylinder output shaft and hub are compared and analyzed between the key connection and the expansion sleeve connection. The parameter calculation and type selection analysis of hydraulic valve and other components are carried out, and the characteristics of hydraulic system are analyzed with AMESim simulation software, which provides guidance for the debugging of the prototype. In the fourth chapter, the structure of the mechanical system of the four degrees of freedom electro-hydraulic control platform is described, the design process of the mechanical system is introduced, the material of the components of the mechanical system is selected, and the type selection of the cross roller guide rail is analyzed. Safety factor and life analysis, especially according to the requirements of motion platform function and structure compactness, a new type of slewing bearing with square appearance is designed, and the friction resistance moment of slewing bearing is calculated. ANSYS software is used to check and analyze the structure of the key components of the mechanical system, and the maximum deformation and safety factor of the key components are analyzed. The control system of a four-degree-of-freedom electro-hydraulic control platform is established. The control method of the proportional amplifier board and the constitution and control circuit of the whole control system are introduced. In the fifth chapter, the experimental research on the prototype of the four-degree-of-freedom electro-hydraulic control motion platform is carried out, and the hydraulic system is optimized on the basis of the experiment, and the movement of the four-degree-of-freedom electro-hydraulic control motion platform in the transverse and longitudinal motion is analyzed. The friction force and the load change in the rotation motion and the pitching motion. The sixth chapter summarizes the full text and puts forward the future work prospect.
【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH137.9
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