| Demolition robot as one kind of industrial robots, which is wildly used in thefield of construction, flammable and explosive environment, emergency service anddisaster relief and so on. According to the different nature of work, it can change theequipment as bucket, breaker, hydraulic shear and so on. So the boom structure ismuch more complex. At present, foreign is in the leading position compared withdomestic in developing demolition robot, so in designing and researching boom andelectro-hydraulic drive system, domestic is in the backward state. In this paper, byanalyzing the boom of demolition robot, author set up the3D model of demolitionrobot based on the boom of excavator model, besides analyzed the boom equippedwith bucket dynamicall’y, whats more, designed and studied the electro-hydraulicdrive system of demolition robot. Details as follows:Through establishing the kinematic equations and dynamic equations ofdemolition robot boom, the theoretical expression of the position, velocity,acceleration of hinge point, the driving torque of each arm and the driving force ofeach cylinder was got. When the boom of demolition robot was equipped with bucket,the theoretical digging force of bucket and second-arm, lifting force of big arm,kinematic relations of each arm’s mechanism, digging resistance of bucket and secondarm was analyzed.The virtual model of demolition robot boom was established by combiningPRO/E with ADAMS. The motion envelope of boom was analyzed. In order toanalyzing the force acted on cylinder and hinge point, the simulation of three commondigging conditions was carried out. At last, the positions of hinge points wereoptimized in ADAMS.The multi-pump system, single pump system, serial circuit and parallel circuit,negative flow control and positive flow control, load sensing pump, LUDV systemand commonly used hydraulic circuit was analyzed and studied. Finally,electro-hydraulic drive system of demolition robot was designed.Simulation model of load sensing pump, SX12value and LUDV systemconsisted by them was established in AMESIM. Then, the characteristic of constantpower control, constant pressure control and constant flow control of load sensingpump was analyzed and studied, besides, two conditions of SX12value were analyzed: one, the same dimension of value opening and different load; anther, the same loadand different dimension of value opening. Characteristic of LUDV system wasanalyzed in this chapter too, which consisted of two aspects: one, the same load anddifferent dimension of orifice, anther, different load and the same dimension oforifice. |
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