The Design And Study Of The Lifting Device Of The Remote Control Robot

Robot technology applied to high risk operating environment now is booming,and is gradually applied to practice.Considering the particularity of the nuclear environment and the difficulty of remote control,the lifting device based on the remote robot system platform developed by ourselves is studied in detail.This thesis develops a prototype of lifting device that meets the need s of operation,and summarizes a set of research methods of telescopic boom size optimization based on finite element simulation,physical testing,mathematical statistics and other modern design methods.The research project comes from "a project of investigation of the source item of a retired engineering project"(15zh0224).Firstly,according to the actual working conditions and design requirements,the relevant parameters of the telescopic boom are determined,and the three-dimensional model is established,which is used to analyze the static performance based on the actual working conditions;Then the segmented stress analysis and static simulation of the traditional wire rope ring structure are carried out,which find the stress concentration points and unstable factors of the structure,and point out the anti-skid measures of the wire rope.According to the analysis results,the structure is optimized.The optimization results show that the static performance is improved,and the structure is more adaptable to different types of wire ropes.In addition,an engineering prototype of the lifting device is manufactured,which is carried out the location,load and other functional tests.Finally,according to the simulation and test results,the size of the key parts of the telescopic arm is optimized.The orthogonal design of the two stage telescopic boom is carried out.After a few times of tests,through the range analysis and variance analysis,we find the better factors and a combination of the factors that has a significant influence on the equivalent force of the telescopic boom.The response surface test of the whole telescopic boom was carried out by selecting the significant factors.Through the central composite design and regression analysis,the response surface model of the test and the best size combination was obtained.Compared with the improved simulation,the maximum equivalent stress of the telescopic boom is reduced by 17.1%,the maximum contact stress is reduced by 15.3%,and the maximum lateral deformation is reduced by 4.6%.Therefore,the static performance of the telescopic boom is improved and the optimization goal is achieved.