Design And Research On Hydraulic System Of Ultra-high Pressure Water Jet Demolition Robot

In China, the total production of cement which is the main raw material for concrete has ranked first one in the world. We have a huge amount of concrete construction objects. In the process of urbanization, concrete was used to build load-bearing body structure. And sametimes we need to demolish the old concrete building. Furthermore, the service life of large concrete structure in the early days has been reached. Those objects should be crushed and repaired. But the traditional mechanical crushing manner was inefficient, and prone to cause environmental pollution and materials waste. Now, a mobile robot platform which equipped with high pressure water jet lance was made for crushing and demolishing concrete objects. It has obvious advantages to work in a variety of environments without damage internal material property structure around the crush points. As an engineering machine, the hydraulic system of demolish robot is most important to design. Based on the researching of domestic and international pressure water jet demolition robot, the manipulator frame virtual prototype of demolition robot arm was established. The hydraulic control system of demolition robot was designed in this paper. And the ADAMS and AMESim software was jointed together, to study the virtual prototype simulation demolition robot arm. And the key working parameters were determined. The main contents of this paper are:1)The design requirements of control system in this rescue robot was summarized. And application status of high pressure water jet demolition robot was analyzed. Redesign mechanical arm of ultra-high pressure water jet demolition robot by modern design method. Analysis components of high pressure water jet hydraulic drive system of demolition robot. And the mechanical of swing spray gun, turnover of stent, pallet’s movement, rotary of stent witch the important parts of robot were redesigned. Above all, characteristics of hydraulic circuit and the point of type selection were studied in this part.2)Establish hydraulic system simulation model of the robot with AMESim. Setting the different parameter of simulation model to simulate the hydraulic system of demolish robot in different environments. Compare results of simulation with theoretical calculation to prove the simulation model is right or not.3)Based on allying the dynamic simulation software ADAMS and modeling and simulation software AMESim, to set up the simulation model of ultra-high pressure water jet demolition robot. Set different software interface parameters of simulation model. Drive virtual mechanical robot prototype with hydraulic system model in AMESim. To get movements of demolish robot’s arms and important control paremeters of system when it work. After that, simulation results will be analyzed indetail and the key working parameters were determined, that have a certain reference value for conceret demolish work actual.