Design And Research Of Fully Automatic Hydraulic Wrist

Hydraulic excavators and engineering robots are the main equipment in various engineering construction and emergency rescue operations.Faced with high-risk and harsh operating environments and complex and changeable work requirements,the technical performance requirements of such equipment are also becoming higher and higher.This article aims to develop a fully automatic hydraulic wrist to realize the automatic connection and rapid replacement of the host and the work tool,and to increase the 360° rotation and±40° swing of the host’s operating arm.,thereby to greatly improve the accuracy,flexibility and automatic level of the host operation.The main contents of this thesis are as follows:1)A comprehensive and systematic investigation of the domestic and foreign development status of hydraulic quick-change connection devices,analysis and summary of related products and technical performance,and proposed the development direction and performance requirements of fully automatic hydraulic wrists.2)Aiming at the parameters of the conventional 6-10 tons hydraulic excavator,a matching fully automatic hydraulic wrist was designed and developed.Combined with the technical performance requirements of intelligent control,automatic oil circuit conduction and precise docking,the product’s specifications were developed.For the design plan,the3 D modeling design of the product was completed by using Solid Works.By using ANSYS Workbench,the simulation analysis and structural strength and rigidity check of several different working conditions of fully automatic hydraulic wrist were carried out.Finally,through modal analysis,the first six modes and natural frequencies of the fully automatic hydraulic wrist were obtained to avoid resonance.3)Developed and designed a special intermediate rotary joint to match the male and female connecting valve group,which realized the automatic conduction of the oil circuit when the machine was replaced;the laser radar technology is used to identify and measure the spatial attitude of fully automatic hydraulic wrists and work tools.Through the obtained point cloud coordinates and sensor data,a control system that accurately connects the two is designed based on the coordinate conversion theory,so as to realize the accurate and rapid docking between the fully automatic hydraulic wrist and work tools;developed the motion control software based on the encoder and the angle sensor,and realized t the accurate control of rotation and swing angle of fully automatic hydraulic wrist.4)According to the three-dimensional model of the fully automatic hydraulic wrist,the processing and assembly of the test prototype were completed,and its functions such as swing,rotation,precise docking,and quick replacement of working tools were tested and tested.Through the combination of experimental data and theoretical analysis,it is a fully automatic hydraulic Provide a basis for the next optimization of the wrist.