四自由度電液控制運(yùn)動(dòng)平臺(tái)的研制
發(fā)布時(shí)間：2018-10-26 22:06
【摘要】：隨著機(jī)械化和自動(dòng)化技術(shù)的發(fā)展,懸掛物掛裝技術(shù)逐漸由原來的人力掛裝、半機(jī)械化掛裝發(fā)展到了機(jī)械化掛裝,并且正在逐步實(shí)現(xiàn)自動(dòng)化掛裝,尤其是迅速崛起的具有單位體積功率大和傳動(dòng)平穩(wěn)等特點(diǎn)的液壓技術(shù),極大地推動(dòng)了這一過程的發(fā)展。 本論文研制的是一種可安裝在移動(dòng)車輛上的四自由度電液控制運(yùn)動(dòng)平臺(tái),該運(yùn)動(dòng)平臺(tái)結(jié)構(gòu)緊湊,采用電液比例控制各個(gè)自由度運(yùn)動(dòng),可在一定范圍內(nèi)對負(fù)載進(jìn)行位置和姿態(tài)調(diào)整,安裝在移動(dòng)車輛上后可以完成對懸掛物的機(jī)械化掛裝,提高了作業(yè)效率。論文的主要內(nèi)容如下： 第一章,簡要陳述了四自由度電液控制運(yùn)動(dòng)平臺(tái)的應(yīng)用背景,綜述了掛裝用多自由度運(yùn)動(dòng)平臺(tái)的國內(nèi)外研究現(xiàn)狀,提出了論文的研究內(nèi)容和研究意義。 第二章,論述了四自由度電液控制運(yùn)動(dòng)平臺(tái)的總體方案設(shè)計(jì)和運(yùn)動(dòng)平臺(tái)的構(gòu)成,并結(jié)合三維設(shè)計(jì)軟件SolidWorks對四自由度電液控制運(yùn)動(dòng)平臺(tái)進(jìn)行了整體布局設(shè)計(jì)。 第三章,設(shè)計(jì)了四自由度電液控制運(yùn)動(dòng)平臺(tái)的液壓系統(tǒng),分析了縱移回路、橫移回路、俯仰回路和回轉(zhuǎn)回路的工作原理；詳細(xì)設(shè)計(jì)了液壓系統(tǒng)的執(zhí)行元件的結(jié)構(gòu),包括縱移液壓缸、橫移液壓缸、俯仰液壓缸和擺動(dòng)液壓缸等,尤其是比較分析了鍵聯(lián)接和脹套聯(lián)接兩種擺動(dòng)液壓缸輸出軸與輪轂的聯(lián)接方式；對液壓閥等元件進(jìn)行了參數(shù)計(jì)算和選型分析；結(jié)合AMESim仿真軟件分析了液壓系統(tǒng)的特性,為樣機(jī)的調(diào)試提供了指導(dǎo)。 第四章,闡述了四自由度電液控制運(yùn)動(dòng)平臺(tái)的機(jī)械系統(tǒng)的構(gòu)成,介紹了機(jī)械系統(tǒng)的設(shè)計(jì)過程,選擇了機(jī)械系統(tǒng)元部件的材料,對交叉滾子導(dǎo)軌進(jìn)行了選型分析、安全系數(shù)和壽命分析,尤其是根據(jù)運(yùn)動(dòng)平臺(tái)功能和結(jié)構(gòu)緊湊性要求,設(shè)計(jì)了新型的具有方形外觀的回轉(zhuǎn)支承,并計(jì)算了回轉(zhuǎn)支承的摩擦阻力矩,利用ANSYS軟件校核分析了機(jī)械系統(tǒng)的關(guān)鍵元件的結(jié)構(gòu),分析了關(guān)鍵元件的最大變形和安全系數(shù)；建立了四自由度電液控制運(yùn)動(dòng)平臺(tái)的控制系統(tǒng),介紹了比例放大板的控制方法和整個(gè)控制系統(tǒng)的構(gòu)成及控制電路； 第五章,開展了四自由度電液控制運(yùn)動(dòng)平臺(tái)樣機(jī)的試驗(yàn)研究,并在試驗(yàn)的基礎(chǔ)上優(yōu)化了液壓系統(tǒng),分析了四自由度電液控制運(yùn)動(dòng)平臺(tái)在橫移運(yùn)動(dòng)、縱移運(yùn)動(dòng)、回轉(zhuǎn)運(yùn)動(dòng)時(shí)的摩擦力情況和俯仰運(yùn)動(dòng)時(shí)負(fù)載的變化情況。 第六章,總結(jié)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.
【學(xué)位授予單位】：浙江大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2011
【分類號(hào)】：TH137.9
本文編號(hào)：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.
【學(xué)位授予單位】：浙江大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2011
【分類號(hào)】：TH137.9
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