【作者】 安洪瑞；

【导师】 王立权；

【作者基本信息】 哈尔滨工程大学 ， 机械电子工程， 2005， 硕士

【摘要】 水下运载器智能对接装置是水下救生的主要装备。水下对接技术是水下运载器实施救生的关键技术。论文主要研究了水下运载器智能对接装置与目标环的对接方案,就机械手与对接目标环抓取时的状态进行了运动学分析,对调整过程中的机械手进行了动力学分析和计算。对机械手的结构及其液压系统进行了研究,对智能对接装置的作业空间进行了分析,论证了机械手主动抓取目标环对接方案的可行性。 设计了基于可编程控制器(PLC)的控制系统,利用其成熟的硬件基础,功能齐全的控制模块来完成水下智能对接作业任务。并完成了智能对接装置所有硬件的调试,设计了漏水检测电路。 设计了基于组态软件的监控系统,采用组态软件对水下运载器智能对接装置进行实时监控,用C语言与SQL函数编写了监控界面,其中包括与EXCEL的数据交换、实时报表、历史曲线、与数据库Access的连接、实时报警等。实现了在组态软件监控系统的控制界面上实时显示对接信息,完成了控制系统硬件、软件的调试实验。 进行了对接装置的陆上模拟实验,实现了对四只机械手协调运动的控制,监控系统实时显示的信息与智能对接装置的实际运动状态相吻合。更多还原

【Abstract】 The intelligent mating apparatus of underwater carrier is the main vehicle to rescue submarines. Underwater mating is the key technique in rescuing performance. The thesis mainly points to the research for the project of intelligent apparatus. The thesis makes the analysis of kinematics when the manipulators hold the target loop, analyzes and reckons dynamics when the manipulator adjusting, the thesis studies the manipulator’s structure and the hydraulic pressure system, accounts for task space of the apparatus, testifies the possibility of the manipulators holding the target loop.The control system which is based on programmable controller (PLC) is designed out. PLC’s hardware foundation is mature and its working mode is blocking, all of these can serve for project. Furthermore, there is another waterproof circuit. The mating apparatus’ all hardware’s test are finished.The thesis designs out the inspection system which is based on configuration software. By using configuration software to inspect on the apparatus on PC at any moment comes true. The thesis adopts C and SQL’s function to editing a series of inspection interfaces which include exchanging data with EXCEL, real time-report, history curve connection with Access, alarm list and so on. Complete reflecting the info of apparatus on control screen and debug software with hardware together anywhere.Simulation experiment of the apparatus is taken on land, control and inspection system complete the mission which controls manipulators’ move and shows the status of the apparatus. All figures kiss well with apparatus’ nature.更多还原