小型液压机主机结构设计与计算含10张CAD图
收藏
资源目录
压缩包内文档预览：(预览前20页/共28页)
编号：91865373
类型：共享资源
大小：7.10MB
格式：ZIP
上传时间：2020-08-10
上传人：QQ14****9609
认证信息
个人认证
郭**（实名认证）
陕西
IP属地：陕西
40
积分
- 关 键 词：
-
小型
液压机
主机
结构设计
计算
10
CAD
- 资源描述：
-
小型液压机主机结构设计与计算含10张CAD图,小型,液压机,主机,结构设计,计算,10,CAD
- 内容简介：
-
MECHANICAL DESIGN AND KINEMATIC OPTIMIZATION OF A NOVEL SIX-DEGREE-OF-FREEDOM PARALLEL MECHANISM Antonio Frisoli, Fabio Salsedo, Diego Ferrazzin, Massimo Bergamasco PERCRO Simultaneous Presence, Telepresence and Virtual PresenceScuola Superiore S. AnnaVia Carducci, 40 56127 PISA, ItalyE-mail: antonysssup.it, bergamascopercro.sssup.itABSTRACT A six-degree-of-freedom hand controller with force feedback capabilities has been designed. The proposed mechanism new design is fully parallel and actuator redundant. Actuator redundancy refers to the addition of more actuators than strictly necessary to control the mechanism without increasing the mobility. A new cable transmission is used to drive each of the six degrees of freedom, allowing all actuators be fixed to ground. Kinematic optimization of the dexterity and redundant actuation analysis of the manipulator has been developed. The mechanical design of a prototype version is shown.KEYWORDS Haptic Interface, Tendon Transmission, Six Dof Parallel ManipulatorINTRODUCTION Parallel manipulators have been extensively studied for their favorable properties in terms of structural stiffness, position accuracy and good dynamic performance (Merlet 1990). Their well-known counterbalance is lack in workspace dimensions and more complex direct kinematics law. Several parallel manipulators proposed in the literature are based on octahedral geometry kinematics (Fichter 1986, Albus et al. 1993) With the adoption of such a kinematics, the geometric coincidence between two joints leads to a lack of the one-to-one correspondence between leg points on platform and base. The legs form a “zigzag triangulated pattern” (Hunt and McHaree 1998) that connect the base to the mobile platform. With this kinematics the manipulator can support external loads with increased stiffness and avoid the singularity configurations, with a consequent average improvement in kinematic performance. The novel manipulator, presented in this paper, has been devised to realize a six-degree of freedom haptic interface. Requirements of low friction and no backslash are critical in the design of force feedback devices (Hayward,1995). Moreover a uniform kinematic behavior of the mechanism over the workspace is required. A six-degree of freedom haptic device can be used to replicate the most of the physical interactions in Virtual Environments (VE). The aim of this research has been to design an Haptic Interface for the simulation in VE of all tasks involving dexterous manipulation and precise execution, e.g. Surgery, with the replication of all the components of the interaction wrench. The new manipulator design is composed of a mobile platform connected by four legs to a fixed platform. Two motors located on the base actuate each leg by a novel tendon drive system. Since eight tendons are used to control six degree-of-freedom, the configuration of the tendon driven system according to (Jacobsen et al. 1989) is redundant of type N+2. The tendon drive modifies the kinematic behavior of the system, so that it becomes statically equivalent to a mobile platform connected to the base by eight pistons, disposed in a triangulated pattern. By means of this static analogy, the mechanical architecture of the system recalls an octahedral like geometry with two more linear actuators. But with respect to the octahedral parallel manipulator classical designs, the mechanical system is implemented by DC iron-less motors and steel cables, yielding an high fidelity force-feedback desktop device. KINEMATIC DESCRIPTION OF THE MECHANISM The kinematics of the legs of the parallel manipulator is based on the closed 5-bar mechanism. An innovative tendon transmission has been devised to drive the closed 5-bar mechanism. It is composed of two tendons routed orderly over the pulleys mounted on each joint axis, as shown in figure 1. All the pulleys are idle, except the final driven pulleys of each tendon transmission that are bolted to the base link.Figure 1: Scheme of the closed-loop tendon drive The pulley radii are the same for all the joints, but with different winding directions. So differently from classical tendon transmissions used in serial manipulators, the final driven pulley is grounded and it is not connected to a moving driven link. This new tendon drive design allows, by properly choosing the tendon routing, to improve the kinematic performance of the closed 5-bar linkage, i.e. avoiding the singularities and improving the kinematic dexterity. The closed-loop tendon drive We shall analyze now the properties of the tendon drive. Since the sum of the internal angles of a triangle is p, it is easy to show that for the angles of figure 1 the following differential relations hold: (1) Since the tendon branch tangent to two consecutive pulleys is constant independently from the close 5 bar posture, the displacement dvi of the starting terminal of the tendon is determined only by the variations of the joint angles: (2) So by using the differential expressions (1) we obtain: (3) The above equation is very meaningful. Since (4) by the duality principle between statics and kinematics, the action of the two tendon tensions T1 and T2 is equivalent to two linear actuators directed along QP and RP with thrusts: (5) But since tendon can generate only tension forces, the previous static analogy is incomplete and, depending by the implemented routing, the equivalent pistons can either only pushing upwards or pulling downwards. So the kineto-static behavior of a tendon driven closed 5-bar linkage can be reduced to one of the equivalent mechanisms showed in figure 2.Figure 2: Equivalent class of mechanisms This mechanical analogy is very worthwhile, since it permits to explain clearly the force capability of the tendon driven 5-bar linkage. The forces applied at the End Effector (EF) must be comprised in the angle formed by the two equivalent thrust vectors QP and RP, with the sign determined by the routing. Comparative analysis We have studied the differential kinematics of the closed 5-bar linkage both with the direct drive of base joints and with the new tendon drive, in order to point out the difference in kinematics performance. Figure 3: Manipulability ellipses for the base joints drive Figure 4 : Manipulability ellipses for the closed-loop tendon drive Kinematics performance have been compared computing over all the workspace the manipulability ellipses of the two drive systems. The results of an exemplifying case study are reported in figures 3 and 4. The manipulability ellipses for the tendon driven 5-bars mechanism have a rounder shape than t-hose of the 5-bars mechanism actuated at the joints. So the proposed driving system improves the kinematics isotropy of the mechanism. The manipulability, i.e the ellipsis area, is also greater in the closed-loop tendon driven mechanism. Extension to six degrees-of-freedom kinematics The mechanical designs of both closed 5-bar linkages with a pushing type drive and with a pulling type drive have been developed. Then these two mechanisms have been assembled with a ball joint and with a rotational joint, as shown in figure 5, to give raise to two types of six-degree of freedom kinematic components, later on called for sake of simplicity pushing and pulling legs. Figure 5: CAD model of a 6-dof leg Then four legs have been assembled with a mobile platform and a fixed platform in a six degree-of-freedom parallel manipulator. Such a parallel manipulator is redundant in the actuation since eight command variables, namely eight tendon tensions or displacements, are independently used to control six degrees of freedom (Kurtz 1990). On the other side, the constraint on the positive sign of the tendon tension (Jacobsen 1989 ) limits the actuation capability of the HI. The equation ruling the statics of the HI is the dual of the Jacobian equation: Figure 6: General kinematic architecture with F and t being the external force and torque on the moving platform and t being the eight-dimensional vector of tendon tensions. The HI can exert forces and torques of arbitrary directions if and only if the kernel of contains a vector whose components are all positive. The points of the workspace where such a condition is verified belong to the controllable workspace. Our aim has been to enlarge the controllable workspace to the kinematically reachable workspace of the mechanism. So we have studied all the possible symmetric spatial arrangements of four legs, to find the most suitable architecture for an HI design maximizing the controllable workspace. Figure 7: Instantaneous kinematic equivalenceWe have chosen the architecture of fig. 6. The legs are located with an axial symmetry of 90 around an axis normal to the base plane; the base axes of the legs lay in the base plane; both the pushing and the pulling legs are two; the pulling and pushing legs are placed in alternate way around the symmetry axes. The mechanical analogy can be extended to the 6-dof parallel manipulator. Istantaneously the system is equivalent to the one depicted in figure 7. The equivalent pistons are disposed in a triangulated pattern. Parallel Architecture Geometric Analysis There is a geometric interpretation of the problem of controllability. Figure 8: Force closure in pure translations It can be shown that a given configuration belongs to the controllable workspace , if in that configuration the four legs can apply to the coupler a statically balanced system of forces. This problem is known in literature as the force-closure problem and it is related with the study of stable grasps in robotics hands (Nguyen 1988). We can regard the four legs of the HI as four fingers that are grasping in four contact points without friction (corresponding to the ball joints) the coupler. In this way the legs can apply to the coupler four forces.From line geometry (Phillips 1984), it is known that four forces can be statically balanced if their lines of action belong to: a plane ; a bundle of lines; the system of lines constituted by two planar pencils of lines with a common generator; the Regulus of a hyperboloid (the general screws 3-system of null pitch ). In the controllable workspace the legs are always capable of applying to the coupler forces whose lines of action belong to one of the listed systems of lines and so statically balanced. In particular for the selected architecture, if we put aside the angular limitation and the sign limitatio-ns of the forces which each legs can exert, it is always possible to find four forces exertable by the HI whose action lines belong to the simplified system of the type 3. Moreover it can be demonstrated that such architectures every pure translation of the mechanism from the initial position, belongs to the controllable workspace. This property is true because there exists always a point to which the lines of actions of the leg thrusts converge, as shown in fig. 8. So it exists a system of lines of the type 2 aforementioned. KINEMATIC OPTIMIZATION AND MECHANICAL DESIGN The six kinematics parameters which define the HI kinematics have been dimensioned aiming at maximizing the total volume W of the controllable workspace. The maximum controllable workspace volume has been computed for 7920 different kinematic configurations, ranging overall the search space of kinematic parameters. The analysis of the results has given the following indications. Figure 9: Translational workspace with zero orientation The smaller is the dimension of the base platform the larger is the controllable workspace. This dimension is lower bounded by the length of the base links of the 5-bars, since they cannot interfere. The base links dimensions depend on the dimensions of the mechanical components of the base joints of the 5-bars, including the transmission mechanisms. These values have then been chosen as the smallest possible. Larger controllable workspaces are obtained for larger values of the linear dimensions of the 5-bars links, which is related to the dimension of the legs workspaces. This value has then been chosen in order to meet the workspace requirements, but designing a compact mechanism with dimensions compatible with the requirements. The controllable workspace of the optimal solution has been so estimated: in the zero orientation position the admitted translations are depicted in figure and range in -200;200 mm in the xy-plane and in -130;+130 mm in the vertical direction; the maximum and minimum admissible rotations around an axis in the horizontal plane have been estimated to 35 and when the mobile platform is in the zero-translation position. A maximum force of 20 N can be exerted in the plane with a motor torque of 500 mNm. The mechanical design of the solution addressed by the optimization process has then been designed in a CAD environment. The CAD model of the manipulator is shown in figure 1.Figure 10: CAD model of the Haptic Interfac Interference between parts has been assessed in the parametric solid CAD model.CONCLUSIONS The general kinematic description of a new six-degree-of-freedom tendon driven manipulator has been reported. Important properties of the system descend from the chosen kinematics architecture and can be deducted using elements of line geometry. An exhaustive search of all the possible kinematics solution has been numerically implemented. Finally the parameters of the kinematics architecture that yield the maximum controllable workspace have been determined. 桂林电子科技大学图书馆电子资源镜像站点SpecialSciDBS(国道数据)Design of a 5-Joint Mechanical Arm with User-Friendly Control ProgramAmon Tunwannarux, and Supanunt TunwannaruxAbstractThis paper describes the design concepts and implementation of a 5-Joint mechanical arm for a rescue robot named CEO Mission II. The multi-joint arm is a five degree of freedom mechanical arm with a four bar linkage, which can be stretched to 125 cm. long. It is controlled by a teleoperator via the user-friendly control and monitoring GUI program. With Inverse Kinematics principle, we developed the method to control the servo angles of all arm joints to get the desired tip position. By clicking the determined tip position or dragging the tip of the mechanical arm on the computer screen to the desired target point, the robot will compute and move its multi-joint arm to the pose as seen on the GUI screen. The angles of each joint are calculated and sent to all joint servos simultaneously in order to move the mechanical arm to the desired pose at once. The operator can also use a joystick to control the movement of this mechanical arm and the locomotion of the robot. Many sensors are installed at the tip of this mechanical arm for surveillance from the high level and getting the vital signs of victims easier and faster in the urban search and rescue tasks. It works very effectively and easy to control. This mechanical arm and its software were developed as a part of the CEO Mission II Rescue Robot that won the First Runner Up award and the Best Technique award from the Thailand Rescue Robot Championship 2006. It is a low cost, simple, but functioning 5-Jiont mechanical arm which is built from scratch, and controlled via wireless LAN 802.11b/g. This 5-Jiont mechanical arm hardware concept and its software can also be used as the basic mechatronics to many real applications.KeywordsMulti-joint, mechanical arm, inverse kinematics, rescue robot, GUI control program.I. INTRODUCTION NOWADAYS, many kinds of mechanical arms are used in various applications such as in semiconductor fabrications, automobile manufacturing, various industries, medical operations, transportations, educations, or even in space missions 12. There have been dramatically developments in commercial and research fields for manually control, semiautonomous, and autonomous mechanical arms. One of the most important fields that mechanical arms involve and can help to save human lives is the Urban Search and Rescue field (USAR). When earthquake disasters or building collapses happen, the rescue robots can bypass the danger and expedite the search for victims immediately. These robots can help to reduce personal risk to workers by entering the unstable structures, access the ordinarily inaccessible voids and extend the reach of USAR specialists to go places that were otherwise inaccessible 3. Robots can assess structural damage in remote locations where the operators cannot see. They can carry temperature, carbon monoxide, LEL (explosive limit), oxygen, pH level, radiation and weapons of mass destruction sensors on board in order to conduct atmospheric reading and hazardous materials detection and analysis to warn the rescue personnel. During the search they can deposit radio transmitters to be able to communicate with victims, use small probes to check victims heart rate and body temperature and supply heat source and small amounts of food and medication to sustain the survivors. There is the need to develop the leading edge hightechnology enabling the system with autonomy, which comes with high cost and many unsolved research issues. On the other hand, there is the need for simple, cost-effective systems to be dispensable. Dispensable robots can be risked in searching for survivors in unstable structures and confined spaces. From this perspective, the domain of rescue robots is significant scientific contributions toward the development and it is also well suited for education. A lot of rescue robot competitions have been held lately with the main purpose of encouraging students and researchers to share and develop their robots for practical usage in the real situations. The most popular rescue robot contest is the World RoboCup Rescue Robot League Competition, which started in 2001 4. This competition is one of the inspirations for Thailand Rescue Robot Championship to be held in 2004. In this paper, we design and implement a 5-Joint mechanical arm with a four bar linkage, including the userfriendly control/monitoring program for a rescue robot, named CEO Mission II as shown in Fig. 1, which competed in the Thailand Rescue Robot Championship 2006. This 5-Joint mechanical arm provides capability to look over the partitions and solves the problem of forward access or high level access due to more degree of freedom than the high mast of CEO Mission I 5. It can be stretched to 125 cm long, and equipped with CCD cameras and many sensors at the tip of mechanical arm for surveillance and getting the vital signs of the disaster victims. Based on Inverse Kinematics concept 6, this robotics arm is designed with five degree of freedom and controlled by a teleoperator selecting the desired tip position of the mechanical arm on computer screen, then the servo angles of all arm joints are computed and move simultaneously to get to the pose and the determined tip position as seen on the GUI screen. It is a low cost but functioning 5-Joint mechanical arm which is built from scratch, and controlled via wireless LAN 802.11b/g. It is the first 5-Joint mechanical arm with a four bar linkage and at that time the only multi-joint mechanical arm implemented on rescue robot and make advantage in the challenging environment of the Thailand Rescue Robot Championship 2006 as in Fig. 2. Its hardware concept and software can also be applied to other mechatronics research and applications.Fig. 1 CEO Mission II rescue robot with 5-Joint mechanical armFig. 2 Thailand Rescue Robot Championship 2006 competition arenaTopics covered in the following sections are as follows. Section 2 presents an overview of CEO Mission II. Section 3 explains the design concepts of our 5-joint mechanical arm. Section 4 illustrates the software on the teleoperator station, which is a real-time control and user friendly interface controlling and monitoring program. Section 5 shows the testing results and discussion. Section 6 is the conclusions and the future works.II. AN OVERVIEW OF CEOMISSION II RESCUE ROBOT Our 5-Joint mechanical arm with a four bar linkage, including the user-friendly control/monitoring program, was designed for CEO Mission II rescue robot in Fig. 1. The criteria of design this rescue robot is based on Thailand Rescue Robot Championship Competition rules 2006 7. They are the international rules, which will be used in the World RoboCup Rescue Robot Championship 2007, held in Atlanta, USA 8. The aim of this competition is to produce lifesaving rescue operations in a large scale city disaster. Its focus is on testing robotic control, manipulation and cooperation on a mock disaster area simulating an urban area of a couple of blocks as shown in Fig. 2. The competition rules and scoring metric both focus on the basic Urban Search and Rescue (USAR) tasks of identifying live victims, determining victim condition, providing accurate victim location, and enabling victim recovery, all without causing damage to the environment. All teams compete in several missions (three different arenas) lasting twenty minutes with the winner achieving the highest cumulative score from all missions. Fig. 3 Multi-joint mechanical arm with five degree of freedom in variety positionsCEO Mission II rescue robot was designed as a track wheel type with double front flippers for climbing over the collapse and the rough terrain. The 5-Joint mechanical arm equipped with cameras and sensors at the tip are installed on the top of the robot body in order to get the bird-eye view surveillance and easier access to victims to get their vital signs. At the remote station, the robot locomotion and mechanical arm movement are controlled by joystick and user-friendly GUI control/monitoring program on computer via IEEE 802.11b/g WiFi. Robot traveling map and obstacle map are shown on the teleoperators monitoring screen with the camera image and vital sign information getting from the robot. The design of our 5-Joint mechanical arm can be categorized into hardware challenges which include mobility, mechanics, and control method and software challenges which include user interface, control, vision, mapping and navigation.III. DESIGN CONCEPTS OF THE MECHANICAL ARM In order to look over the partitions and solves the problem of forward access or bird-eye view access, our mechanical arm is design to be a five degree of freedom mechanical arm, which is more effective than the two degree of freedom high mast In Fig. 4, the gear set of each joint and part assembly drawing are illustrated.Fig. 4 Gear set of each joint and part assemblyof CEO Mission I 5. This mechanical arm does credit to the CEO Mission II rescue robot. It helps the robot to explore in many ways such as, from high level, going into narrow space and able to get vital signs of victims easier and faster. Under simple and low cost circumstance, the 5-Joint mechanical arm is implemented with a four bar linkage at the second joint as see in Fig. 1. Fig. 3 shows the drawing of mechanical arm which has 5 degrees of freedom. The four bar linkage makes the mechanical arm to be stable and having a good benefit in control. The angle of four bar link is used as a manual trim forward/backward controlling parameter of robot head. It is very useful when we want to gradually move robot head forward to the victim for sensing the victims vital signs. Because the pay load at the tip of arm is small and the arm structure weight is not much, servo motor with gear set still can regulate the joint angle quite well. Resistor potentiometer is installed for each joint angle feedback. Size, part number of servo motors and gear reduction ratios of each joint are shown in Table I.Fig. 5 Geometric for 2-joint arm calculation Inverse kinematics is used to calculate the angle of all arm joints by the known target position of mechanical arm tip 6. From Fig. 5, the geometric calculation of cosine rule is applied for calculating the angles of two-joint arm. So we can get the angle of link 1 a ( 1 ), the angle of the link 2 a ( 2 ) as the following equation (1) and (2). Then we can use these two basic equations to calculate the joint angle of each couple links.Fig. 6 Geometric of 3-joint arm and its parameter notation Parameter notation in Fig. 6 is defined and has the details as following. (x,y) = the 3rd link tip coordinate in Cartesian system 1 l = length of the 1st link F l = length of the four bar link 2 l = length of the 2nd link 3 l = length of the 3rd link i1 l = length of imaginary line from the base of the 1st link to the tip of four bar link i2 l = length of imaginary line from the base of the 1st link to the tip of the 2nd link 1 = angle between 1st link and base 2 = angle between 2nd link and 3rd link F = angle between four bar link and 1st link 1i = angle between i2 l and base2 i = angle between i2 l and 3 l = angle between 2 l and i2 l or angle between 1 l and i2 l = angle between F l and i1 l 1 l , F l , 2 l , 3 l are the given parameters which depend on mechanical arm design. The (x,y) coordinate is determined for the desired target point. Because F is reserved for manual trim forward/backward controlling of mechanical arm tip so F is another given parameter. Therefore 1 and 2 can be derived by the following steps. To move the 5-Joint mechanical arm to any desired tip positions, as in Fig.3, the 1 and the 2 need to be derived from the above equations with given parameter F .IV. SOFTWARE ON THE TELEOPERATOR STATION Fig. 7 Flowchart of mechanical arm control program For USAR tasks, an effective user interface (UI) must be centered on providing the human operator sufficient information to make correct decisions about future actions of the robot at the required level of decision-making 9. The user must be able to easily monitor the robots orientation, location and power, operate various equipments such as cameras, lights and gripper on-board and precisely control robots movements as well as receive images from cameras. Thus, the software on the teleoperator station is one of challenging research fields. In this paper, we will illustrate only the software involving the control and monitoring robot arm movement. The CEO Mission II control and monitoring software on the teleoperator station are details in its project report 10. By using Inverse Kinematics, the method of determining tip position in 2D coordinating system to control the movement of this mechanical arm is implemented with visual basic. The flowchart of mechanical arm control program can be illustrated as in Fig. 7. The Graphic User Interface (GUI) for the CEO Mission II mechanical arm is shown in Fig. 8. The user-friendly control and monitor GUI is developed for easier usage. By clicking the determined target point or dragging the tip of the mechanical arm on screen to the desired target, the robot will move its arm to the pose as seen on the GUI screen. The angles of each joint are calculated and sent to all joint servos simultaneously in order to move the mechanical arm to the desired position. The operator can also use the joystick to control the movement of mechanical arm and the locomotion of the robot.Fig. 8 Drag-drop control and monitor display for multi-joint mechanical arm in variety positions with its coordinate systemV. TESTING RESULTS AND DISCUSSION After the 5-joint mechanical arm installed on top of CEO Mission II robot body and its user-friendly control/monitoring GUI program were built, they worked quite well. The position control of the mechanical arm tip testing was also performed, and had the results as in Table II. We can see that there is a little backslash because the coupling of each gear is not fit enough. From the experimental results, the error of vertical position (Y axis) is more than the error of horizontal position (X axis) because of the moment of inertia and the gravity. However, it still works well on victim surveillance and the victims vital sign detection, because the mechanical arm has light weight and this kind of work does not require high precision for position control. For further improvement, the reduction ratio of gear set of elbow joint (the 3rd joint) should be increased to 22.75 (3 stages). All functions were tested and had very satisfied results, as in the Thailand Rescue Robot Championship 2006, CEO Mission II got the First Runner Up award and the Best Technique award.VI. CONCLUSIONS AND FUTURE WORK The 5-Jiont mechanical arm which is built from scratch, and controlled via wireless LAN 802.11b/g with a user-friendly control/monitoring program has been briefly described. Though based on the relatively simple technique, it led to the first and at that time the only mechanical arm for a rescue robot that has 5-Joint robot arm with a four bar linkage, allows fruitful combination of surveillance jobs and victim situation navigating in the challenging environment of the Thailand Rescue Robot Championship 2006. It has been tested in many areas and competitions. Its performance was observed to be excellent. The 5-Joint mechanical arm hardware concept and its software can also be used as the basic mechatronics to many other real applications. In the future, by changing the servo motors to the higher power ones and attaching the grippers, we can adapt this mechanical arm to use in Explosive Ordnance Disposal (EOD) robot.REFERENCES1 The Canandarm : Remote Manipulator System (RMS), Available: /211.web.stuff/Adamczak/rms.htm2 G. Hirzinger, N. Sporer, M. Schedl, J. Butterfass, M. Grebenstein, “Robotics and mechatronics in aerospace,” The 7th International Workshop on Advanced Motion Control, 2002, pp. 19-27.3 B. Shah, and H. Choset, “Surveys on Urban Search and Rescue Robotics,” Carnegie Mellon University, 2005.4 World RoboCup. Available: /5 A. Tunwannarux, S. Hirunyaphisutthikul, “Design features and characteristics of a rescue robot,” Proceedings of International Symposium on Communications and Information Technologies (ISCIT), 2005.6 C. Zhou, “Robot motion analysis Kinematics,” 1999. Available: /czhou/MOTION.pdf7 Thailand Rescue Robot Championship Competition rules 2006. Available: http:/www.trs.or.th8 World RoboCup 2007. Available: /9 J. G. Blitch, “Artificial Intelligence Technologies for Robot Assisted Urban Search and Rescue,” Expert Systems with Applications, vol. 11(2), 1996, pp 109-124.10 A. Tunwannarux, S. Tunwannarux, “CEO Mission II rescue robot project report”, UTCC, 2007. International Journal of Applied Mathematics and Computer Sciences Volume 4 Number 3 桂林电子科技大学图书馆电子资源镜像站点SpecialSciDBS(国道数据)Hydraulic Station and the development ofhydraulic components ProfilesHydraulic Pump Station also known as the stations are independent h- ydraulic device.It requested by the oil gradually. And controlling the hydraulic oil flow direction, pressure and flow rate, applied to the mainframe and hy- draulic devices separability of hydraulic machinery.Users will be provided after the purchase hydraulic station and host of implementing agencies (motor oil or fuel tanks) connected with tubing, Hydraulic machinery can be realized from these movements and the work cycle.Hydraulic pump station is installed, Manifold or valve combination, t- anks, a combination of electrical boxes.Functional components : Pump device - is equipped with motors and pumps, hydraulic station is the source of power. to mechanical energy into hydraulic oil pressure can be.Manifold - from hydraulic valve body and channel assembled. Right direction for implementation of hydraulic oil, pressure and flow control.Valve portfolio - plate valve is installed in up board after board connects with the same functional IC.Tank - plate welding semi-closed containers, also loaded with oil filtering network, air filters, used oil, oil filters and cooling.Electrical boxes - at the two patterns. A set of external fuse terminal plate; distribution of a full range of electrical control.Hydraulic Station principle : motor driven pump rotation, which pump oil absorption from the oil tank. to mechanical energy into hydraulic pressure to the station, hydraulic oil through Manifold (or valve combinations) realized the direction, pressure, After adjusting flow pipe and external to the cylinder hydraulic machinery or motor oil, so as to control the direction of the motive fluid transformation force the size and speed the pace of promoting the various acting hydraulic machinery.A development courseChina Hydraulic (including hydraulic, the same below), pneumatic and seals industrial development process can be broadly divided into three phases, namely : 20 early 1950s to the early 1960s, the initial stage; 60s and 70 for specialized production system ;8090s growth stage for the rapid development stage. Which, hydraulic industry in the early 1950s from the machine tool industry production of fake Su-grinder, broaching machine, copying lathe, and other hydraulic drive started, Hydraulic Components from the plant hydraulic machine shop, self-occupied. After entering the 1960s, the application of hydraulic technology from the machine gradually extended to the agricultural machinery and mechanical engineering fields, attached to the original velocity of hydraulic shop some stand out as pieces of hydraulic professional production. To the late 1960s, early 1970s, with the development of mechanized production, especially in the second automobile factory in providing efficient, automated equipment, along with the Hydraulic Components manufacturing has experienced rapid development of the situation, a group of SMEs have become professional hydraulic parts factory. 1968 Chinas annual output of hydraulic components have nearly 200,000 in 1973, machine tools, agricultural machinery, mechanical engineering industries, the production of hydraulic parts factory has been the professional development of more than 100 and an annual output more than one million. an independent hydraulic manufacturing industry has begun to take shape. Then, hydraulic pieces of fake products from the Soviet Union for the introduction of the product development and technical design combining the products to the pressure, Hypertension, and the development of the electro-hydraulic servo valves and systems, hydraulic application areas further expanded. Aerodynamic than the start of the industrial hydraulic years later, in 1967 began to establish professional pneumatic components factory, Pneumatic Components only as commodity production and sales. Sealed with rubber and plastics, mechanical seals and sealing flexible graphite sealing industry, the early 1950s from the production ordinary O-rings. rubber and plastics extrusion, such as oil seal sealing and seal asbestos products start to the early 1960s, begun production of mechanical seals and flexible graphite sealing products. 1970s, the burning of the former Ministry, a Ministry, the Ministry of Agricultural Mechanization System, a group of professional production plants have been established, and the official establishment of industries to seal industrial development has laid the foundation for growth. Since the 1980s, in the countrys reform and opening up policy guidelines, with the development of the machinery industry, based mainframe pieces behind the conflicts have become increasingly prominent and attracted the attention of the relevant departments. To this end, the Ministry of the original one in 1982, formed the basis of common pieces of Industry, will be scattered in the original machine tools, agricultural machinery, mechanical engineering industries centralized hydraulic, pneumatic and seals specialized factories, placing them under common management infrastructure pieces Bureau, so that the industry in the planning, investment, technology and scientific research and development in areas such as infrastructure pieces Bureau of guidance and support. Since then entered a phase of rapid development, has introduced more than 60 items of advanced technology from abroad, including more than 40 items of hydraulic, pneumatic 7. After digestion and absorption and transformation, now have mass production, and industry-leading products. In recent years, the industry increased the technological transformation efforts, in 1991, Local enterprises and the self-financing total input of about 20 billion yuan, of which more than 1.6 billion yuan Hydraulic. Through technological transformation and technology research, and a number of major enterprises to further improve the level of technology, technique and equipment to be greatly improved. In order to form a higher starting point, specialization, and run production has laid a good foundation. In recent years, many countries in the development of common ownership guidelines, under different ownership SMEs rapid rise showing great vitality. With the further opening up, three-funded enterprises rapid development of industry standards for improving and expanding exports play an important role. Today, China has and the United States, Japan, Germany and other countries famous manufacturers joint ventures or wholly-owned by foreign manufacturers to establish a piston pump / motor, planetary reduction gears, steering gear, hydraulic control valve, hydraulic system, hydrostatic transmission, hydraulic Casting. pneumatic control valve, cylinder, gas processing triple pieces, mechanical seals, rubber and seal products more than 50 production enterprises, attracting foreign investment over 200 million U.S. dollars. Second, the current situation(1) Basic ProfilesAfter 40 years of efforts, China hydraulic, pneumatic and sealing industry has formed a relatively complete categories. a certain level of technical capacity and the industrial system. According to the 1995 Third National Industrial Census statistics, hydraulic, Pneumatic seals and industrial 370,000 annual sales income of 100 million yuan in state-owned, village-run, private and cooperative enterprises, individual, three capital enterprises with a total of more than 1,300, of which about 700 hydraulic, Pneumatic seals and the approximately 300 thousand. By 1996 with the international trade statistics, the total output value of Chinas industry hydraulic 2.348 billion yuan, accounting for the worlds 6; Pneumatic industry output 419 million yuan, accounting for world No. 10.(2) the current supply and demand profilesThrough the introduction of technology, independent development and technological innovation, and high-pressure piston pump, gear pumps, vane pump, General Motors hydraulic valves, tanks, Non-lubricated aerodynamic pieces and various seals of the first large technology products has increased noticeably. stability of the mass production may, for various mainframe products provide a level of assurance. In addition, hydraulic and pneumatic components of the CAD system, pollution control, proportional servo technology has scored some achievements, and is already in production. Currently, hydraulic, pneumatic and seals products total about 3,000 species, more than 23,000 specifications. Among them, there are 1,200 hydraulic varieties, more than 10,000 specifications (including hydraulic products 60 varieties 500 specifications); Pneumatic are 1,350 varieties, more than 8,000 specifications; Rubber seal 350 species more than 5,000 specifications have been basically cater to the different types of mainframe products to the general needs, complete sets of equipment for major varieties of matching rate
- 温馨提示:
1: 本站所有资源如无特殊说明，都需要本地电脑安装OFFICE2007和PDF阅读器。图纸软件为CAD,CAXA,PROE,UG,SolidWorks等.压缩文件请下载最新的WinRAR软件解压。
2: 本站的文档不包含任何第三方提供的附件图纸等，如果需要附件，请联系上传者。文件的所有权益归上传用户所有。
3.本站RAR压缩包中若带图纸，网页内容里面会有图纸预览，若没有图纸预览就没有图纸。
4. 未经权益所有人同意不得将文件中的内容挪作商业或盈利用途。
5. 人人文库网仅提供信息存储空间，仅对用户上传内容的表现方式做保护处理，对用户上传分享的文档内容本身不做任何修改或编辑，并不能对任何下载内容负责。
6. 下载文件中如有侵权或不适当内容，请与我们联系，我们立即纠正。
7. 本站不保证下载资源的准确性、安全性和完整性, 同时也不承担用户因使用这些下载资源对自己和他人造成任何形式的伤害或损失。
人人文库网所有资源均是用户自行上传分享，仅供网友学习交流，未经上传用户书面授权，请勿作他用。
川公网安备: 51019002004831号