【作者】 李凯；

【导师】 李允公；

【作者基本信息】 东北大学 ， 机械工程， 2018， 硕士

【摘要】 随着特殊环境应急机器人的广泛应用,其相关研究也越来越得到重视。工作装备是应急机器人作业的核心部件,其结构设计的合理性和工作过程的灵敏性,反映了应急机器人的工作性能。因此,对应急机器人作业装备进行设计与研究,具有重要意义。本文围绕应急挖掘机器人展开研究,论文的主要内容包括:根据应急挖掘机器人设计要求和设计标准,建立作业装备三维实体模型,并对主要作业装备三节机械臂和复合挖斗进行设计分析。挖掘是应急挖掘机器人的作业工况,对作业装备挖掘阻力的分析是十分必要。三节式机械臂的设计,使得作业装备控制角度大,适应能力强,非常适合特殊环境的作业;各个机械臂采用了箱体式设计,不仅减轻了作业装备的质量且增加了机械臂的强度,也利于液压缸的内部安装。本文研制了一款具有三个不同功能的末端属具(复合挖斗),其主要的功能包括:物料的挖掘功能、障碍物的抓取功能、障碍物的扩开功能。结合挖掘机器人的实际作业情况,对作业装备的挖掘阻力的计算分析。介绍了 ADAMS仿真运动学和动力学基础理论。通过分析了作业装备的关键点,加工出了应急挖掘机器人作业装备的实物样机。主要针对应急挖掘机器人作业装备的两个工况进行了运动学以及动力学分析,两个工况分别是:物料挖取工况、障碍物的拾起工况。对应挖掘急挖掘机器人的作业装备建立三维实体模型,通过ADAMS,针对应急挖掘机器人作业装备的两个工况进行了运动学以及动力学分析,获得相关作业参数。本文采用了应急挖掘机器人作业装备顺序动作的方式来对挖掘机器人的作业范围进行了仿真验证,验证的参数主要有:作业装备的极限挖掘的臂展半径、极限挖掘的作业深度、极限挖掘的作业高度、极限卸料高度、抬起回转半径和抬起障碍物抓取深度。研究应急挖掘机器人作业装备在挖掘状态下,机械臂的关节点受力情况,得到机械结构的静强度校核。应急挖掘机器人其工作环境的特殊性,其发生疲劳破坏的主要部位在于作业装备的机械臂处,所以对其机械臂进行疲劳寿命分析是很有必要的。运用ANSYSWorkbench有限分析软件的疲劳寿命预测模块为作业装备的的各个机械臂给予了疲劳分析。最终,得到挖掘状态下,作业装备疲劳寿命参数。本文成功的设计出了应急挖掘机器人的作业装备,并利用仿真件对应急挖掘机器人的作业装备进行了仿真分析,使工作装置设计的合理、可靠。本文也为今后应急挖掘机器人作业装备的设计提供了数据参考和思路参考。更多还原

【Abstract】 With the wide application of special environment emergency robot,the related research has been paid more and more attention.Work equipment is the direct executor of emergency robot operation.The rationality of structure design and the sensitivity of work process directly reflect the performance of emergency robot.Therefore,it is great significance to design and study the working equipment of emergency robot.This paper focuses on the operation equipment of emergency excavating robot.The main contents include:The three-dimensional solid model of emergency excavating robot working equipment is established and the mechanism of working equipment design is analyzed.The design of the three section type manipulator and the compound dug bucket are put forward.The three section design of manipulator,not only can enlarging the control angle of the operation equipment and strengthen the adapt ability,but also can suitable for a special environmen.The box type design of Each arm,which not only reduces the quality of the operating equipment and increases the strength of the manipulator,but also helps the internal installation of the hydraulic cylinder.In this paper,a terminal duer with three different functions has been developed.Its main functions include:digging of materials,grasping of obstacles and expanding of obstacles.So it is necessary to analyze the digging resistance of the operation equipment in mining working.According to the actual situation of the operation of the excavating robot,this paper has been analysis and computation on the digging resistance in the mining working equipment.The basic theories of ADAMS kinematics and dynamics are introduced.This paper analyzed the key points of the operation equipment and worked out the physical prototype of the emergency excavating robot.The two working conditions are material extraction condition and pickup obstacles condition.The kinematics and dynamics analysis of emergency excavating robot operation equipment are carried out in the two working conditions.The 3D solid model was built for the operation equipment of the emergency excavating robot.The kinematic and dynamic simulation analysis is carried out for the mining state and grasping state,which can obtain the related operating parameters by ADAMS.In this paper,the operation range of the emergency excavating robot operation equipment was carried out simulation verification by the sequential action.The main parameters are arm mining radius,limit mining operation depth,limit mining operation height,and limit discharge height,lifting radius and lifting depth of obstacles.The stress situation of the joint point of the excavating robotic arm is checked in the mining state and the static strength of the mechanical structure is checked.The particularity of the working environment of the emergency excavating robot,due to the mechanical arm of the operation equipment happened fatigue damage.It is necessary to analyze the fatigue life of the excavating robot arm.Through static analysis ANSYSWorkbench,this paper had carried out the fatigue analysis for each arm of the working equipment.Finally,the fatigue life parameters of the operating equipment are obtained under the condition of mining.Through theoretical calculation and simulation,this paper obtained the main optimal parameters of the operating equipment.At the same time,this paper successfully designed the operation equipment of the emergency excavating robot.To simulate and analyze the operation equipment of the emergency excavating robot by the simulation software,so that the design of the operation equipment is reasonable and reliable.This paper also provides data reference and thought reference for the design of the operation equipment of emergency excavating robot in the future.更多还原