| The Wireless.remote control hydraulic creeping robot is a new construction equipment which can be used in the slide assembly of large-scale components. The robot is combined with the creeper, the hoisting slippers, the hydraulic power system, the sensors and the computer remote control system, which can pull the component with a backward force when the self-locking inclined-wedge clamping device clamps the rail to perform the sliding.According to the disadvantages of traditional sliding construction, the essay begin with the constitution of the robot, adopted modularized designing of the executing institution and the control system, by which not only simplified the assembly and disassembly of the robot, along with the layout of the pipe lines, but also build a string connection between two robots, so the continuous sliding is much easier to realize.The wearing and loss failure often occur between the two matching faces of the self-locking mechanism and the rail, which also happen to the faces between the large-scale component's bottom and the rail's upper level. The failure often cause a fatal loss of the sliding components. According to the failure of these frictional pairs, in order to optimaize the key function parts, the essay applied Finite Element Analysis to the heavy loading components including the inclined-wedge, the clamping house of the self-locking device and the slider of the slippers.Because the traditional sliding construction often use a intermittent sliding mode, there not only needs more power to push between the shifting of static frictional force and dynamic friction force, but also cause a impact on the construction. Accoding to the disadvantages of the intermittent sliding mode, by analyzing the displacement, the vilosity and the time characteristics of the sliding, the essay forms a control strategy for the computor controlable continuous slide, the still shifting of the loads and the multiple rail synchronous sliding.The wire communication between the devices in the traditional sliding... |
