| Demolition robot,which can adapt to high-risk environment and works in high quality,is widely used in urban infrastructure construction,building demolition,disaster relief work and so on.In this paper,demolition robot for disaster relief and a variety of operations is used as the research object.To make sure that the demolition robot can be used in various types of disaster environment and has the functions of demolition,mining,cutting,handling and rapid changing attachments,the hydraulic system of the demolition robot was designed with the aim of minimizing the energy consumption and with the conditions of satisfying the requirements of safety,reliability and various working conditions.The static and dynamic characteristics of the hydraulic system were studied,which can provide the basis for the optimization of the hydraulic system design of the remote demolition robots,and provide reference for the development of the large-scale remote demolition robots with modern design method.To begin with,in this paper,the characteristics and shortcomings of the typical hydraulic system of demolition robot were comparatively analyzed,and a design that combines the load-sensitive system and the multi-way valve was then put forward to improve the hydraulic system of demolition robot,so that the demolition robot can has a good performance and be used in various disaster environments for demolition,excavation,cutting,handling and so on.The calculations of the hydraulic cylinders,rotary motors,travel motors,hydraulic pumps,multi-valve and hydraulic accessories were did and those components were then selected.Next,in this paper,the models of each component was established by using AMESim to build the hydraulic system model.The correctness of the system model was verified by simulation analysis.The solid model of demolition tele-robot was established by using Solidworks and imported into ADAMS to establish the corresponding dynamic simulation model.The co-simulation model of the AMESim hydraulic system model and the ADAMS dynamic model remote of demolition tele-robot was made to simulate the joint operations of the first arm,the second arm and the third arm,the individual action process and the rotary compound action process of there arms.The energy consumption and efficiency of each different process was analyzed.In addition,the dynamic characteristics of the system and the influence of different parameters on the dynamic characteristics of the system were studied by two-arm extension process.Finally,when the load-sensitive pump outlet flow cannot meet the required flow rate,the hydraulic system will cause flow-saturation and be able to distribute the flowproportionally according to the control valve opening of the every actuator,resulting in this phenomenon that traffic flows into smaller load circuit in priority,while larger circuit slows down or even stops because the traffic is too small.It will seriously affects the coordination of the actuators compound action.In this case,a flow rate calculation method that traffic flow is redistributed depending on the opening ratio of each circuit valve is put forward to avoid flow-saturation and to ensure the coordination of complex action.The simulation and analysis were did to study the effect of the anti-flow-saturation method. |
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