玻璃清潔機(jī)器人驅(qū)動(dòng)及擦洗機(jī)構(gòu)設(shè)計(jì)【 高樓玻璃幕墻清洗機(jī)器人】【說明書+CAD】
玻璃清潔機(jī)器人驅(qū)動(dòng)及擦洗機(jī)構(gòu)設(shè)計(jì)【 高樓玻璃幕墻清洗機(jī)器人】【說明書+CAD】, 高樓玻璃幕墻清洗機(jī)器人,說明書+CAD,玻璃清潔機(jī)器人驅(qū)動(dòng)及擦洗機(jī)構(gòu)設(shè)計(jì)【,高樓玻璃幕墻清洗機(jī)器人】【說明書+CAD】,玻璃,清潔,機(jī)器人,驅(qū)動(dòng),擦洗,機(jī)構(gòu),設(shè)計(jì),高樓,幕墻,清洗,說明書,仿單,cad
畢業(yè)設(shè)計(jì)(論文)任務(wù)書
設(shè)計(jì)(論文)
課題名稱
玻璃清潔機(jī)器人驅(qū)動(dòng)和擦洗機(jī)構(gòu)設(shè)計(jì)
學(xué)生姓名
俞建峰
院(系)
工學(xué)院
專 業(yè)
機(jī)械設(shè)計(jì)制造及自動(dòng)化
指導(dǎo)教師
饒洪輝
職 稱
講師
學(xué) 歷
博士
畢業(yè)設(shè)計(jì)(論文)要求:
1熟練掌握AotoCAD和Pro/E繪圖。
2對(duì)機(jī)械原理,機(jī)械設(shè)計(jì)具有較深入的理解和認(rèn)識(shí)。
3具有創(chuàng)新型設(shè)計(jì)思想。
4結(jié)構(gòu)簡(jiǎn)單緊湊,運(yùn)行可靠。
畢業(yè)設(shè)計(jì)(論文)內(nèi)容與技術(shù)參數(shù):
內(nèi) 容:1用AotoCAD軟件設(shè)計(jì)玻璃清潔機(jī)器人的驅(qū)動(dòng)機(jī)構(gòu)和擦洗機(jī)構(gòu)。
2編寫論文說明書。
技術(shù)參數(shù):長(zhǎng)L=150mm, 寬B=100mm; 厚H=40mm, 壁厚h=10mm;
設(shè)計(jì)行程為s=50mm
活塞厚d=30mm, 桿截面取矩形,長(zhǎng)l=30mm,寬b=15mm
畢業(yè)設(shè)計(jì)(論文)工作計(jì)劃:
3月中旬到5月中旬:總體規(guī)劃設(shè)計(jì),驗(yàn)證設(shè)計(jì)原理的可行性。
4月中旬:用Pro/E畫出總體的立體圖。
4月中旬到5月初:用AotoCAD繪出機(jī)械結(jié)構(gòu)圖。
5月初到現(xiàn)在:撰寫畢業(yè)論文。
5月中旬到現(xiàn)在:制作PPT
接受任務(wù)日期 年 月 日 要求完成日期 年 月 日
學(xué) 生 簽 名 年 月 日
指導(dǎo)教師簽名 年 月 日
院長(zhǎng)(主任)簽名 年 月 日
摘 要
高樓玻璃幕墻清洗機(jī)器人是特種機(jī)器人的一個(gè)分支。它是基于壁面移動(dòng)機(jī)器
人技術(shù),并針對(duì)具體的作業(yè)對(duì)象,具有明確功能的實(shí)用機(jī)器人,其工作在垂直危
險(xiǎn)的玻璃壁面,能夠克服重力的作用,攜帶清洗設(shè)備,是面向現(xiàn)代高層建筑玻璃
外墻表面保潔、清洗服務(wù)的極限作業(yè)機(jī)器人。
論文首先對(duì)機(jī)器人總體方案進(jìn)行介紹,在此基礎(chǔ)上,對(duì)機(jī)器人總體結(jié)構(gòu)進(jìn)行了設(shè)計(jì)分析。其次重點(diǎn)介紹了機(jī)器人的驅(qū)動(dòng)機(jī)構(gòu),討論了機(jī)器人的作業(yè)路徑及運(yùn)動(dòng)控制規(guī)劃。最后,簡(jiǎn)單介紹了機(jī)器人的擦洗機(jī)構(gòu)
關(guān)鍵詞:玻璃,幕墻清洗機(jī)器人,驅(qū)動(dòng)機(jī)構(gòu),擦洗機(jī)構(gòu),密封機(jī)構(gòu)
ABSTRACT
Glass-wall cleaning robot is one of robot for limited operation,which can walk on Vertical glass-wall with washing devices.It is a robot with specific applied functions,Based on wall-climbing robot techniques.for specific objects.And it works on vertical Glass-wall,where is dangerous for human beings.It is a robot could conquer the gravity effect and carry cleaning equipments,facing to glass-wall surface beautifying service of modern high-rise buildings.
Firstly, the whole frame of the glass wall cleaning robot is introduced, based on this, the designing and analyzing Of the structure of the robot are described in details.Then,introducing the drive mechanism of the robot,Discussed the operation of the robot path planning and motion control. Finally, a brief introduction of the robot body scrub
Key words: Glass, wall cleaning robot, driving mechanism
Scrub mechanism,sealing mechanism
目 錄
摘 要 2
ABSTRACT 2
1 前 言 4
2 玻璃清潔機(jī)器人總體方案規(guī)劃 5
2.1 機(jī)器人設(shè)計(jì)思想 5
2.2機(jī)器人總體結(jié)構(gòu)方案 5
3 驅(qū)動(dòng)機(jī)構(gòu)和擦洗機(jī)構(gòu) 7
3.1 驅(qū)動(dòng)機(jī)構(gòu)分析 7
3.1.1 驅(qū)動(dòng)方式 7
3.1.2運(yùn)動(dòng)結(jié)構(gòu)和運(yùn)動(dòng)規(guī)劃 7
3.1.3運(yùn)動(dòng)過程控制原理分析 8
3.1.4外形尺寸選擇 10
3.1.5驅(qū)動(dòng)力分析 10
3.1.6小結(jié) 11
3.2擦洗機(jī)構(gòu)分析 11
4 其它元件選擇 12
4.1密封機(jī)構(gòu) 12
4.2換向閥和溢流閥的選擇 12
5 總 結(jié) 13
參考文獻(xiàn) 14
致 謝 15
1 前 言
在現(xiàn)代都市中,高層建筑越來越多,各種各樣的摩天大樓成為現(xiàn)代都市中一道亮麗的風(fēng)景。在建筑業(yè),由于玻璃的采光性好,保溫防潮性能好,彩色玻璃實(shí)用美觀,高層建筑的外壁越來越多地采用玻璃幕墻結(jié)構(gòu),但是為了保證建筑外觀的整潔美麗,時(shí)間一長(zhǎng),就需要對(duì)壁面進(jìn)行清洗,以美化市容市貌。許多開放性城市都規(guī)定,每年應(yīng)對(duì)高樓清洗若干次。
目前高層建筑玻璃幕墻的清洗方法主要有兩種,一種是靠升降平臺(tái)或吊籃承載清潔工進(jìn)行玻璃幕墻的清洗,雖簡(jiǎn)便易行,但勞動(dòng)強(qiáng)度大,工作效率又低,屬于高空極限作業(yè)對(duì)人身安全及玻璃壁面都有很大的威脅性。另一種是用安裝在樓頂?shù)能壍兰暗跛飨到y(tǒng)將擦窗機(jī)對(duì)準(zhǔn)窗戶進(jìn)行自動(dòng)擦洗。這種方式初次投資成本較高(高達(dá)數(shù)百萬元),而且要求在建筑物設(shè)計(jì)之初就要考慮擦窗系統(tǒng),因而限制了其使用,因此急需一種能代替人而又有一定靈活性和適用性的自動(dòng)機(jī)器來完成這項(xiàng)工作,而且玻璃幕墻一般面積較大,大多處于幾十米甚至上百米的高處,且周圍無可攀援的支架,這就使得玻璃幕墻的清洗成為一項(xiàng)繁重、危險(xiǎn)、耗資的工作。如果用人去清洗,不僅花費(fèi)高,而且安全難以保證。特別是目前一些國(guó)家和地區(qū)已經(jīng)通過立法對(duì)包括擦窗作業(yè)在內(nèi)的人工高空攀爬進(jìn)行了限制,人們不得不尋找其它解決辦法。
高層建筑清洗機(jī)器人正是在這種背景下應(yīng)運(yùn)而生。它的出現(xiàn)將極大降低高層建筑的清洗成本,改善工人的勞動(dòng)環(huán)境,提高生產(chǎn)效率,也必將極大地推動(dòng)清洗業(yè)的發(fā)展,帶來相當(dāng)?shù)纳鐣?huì)效益、經(jīng)濟(jì)效益。因此,國(guó)內(nèi)外多家研究機(jī)構(gòu)都在積極開展此項(xiàng)研究工作。
2 玻璃清潔機(jī)器人總體方案規(guī)劃
2.1 機(jī)器人設(shè)計(jì)思想
機(jī)器人是傳統(tǒng)的機(jī)構(gòu)學(xué)與近代電子技術(shù)相結(jié)合的產(chǎn)物,是計(jì)算機(jī)科學(xué)、控制論、機(jī)構(gòu)學(xué)、信息科學(xué)和傳感技術(shù)等多學(xué)科綜合性高科技產(chǎn)物,它是一種仿人操作、高速運(yùn)行、重復(fù)操作和精度高的自動(dòng)化設(shè)備。所以該氣動(dòng)清洗機(jī)器人系統(tǒng)包括機(jī)械結(jié)構(gòu)、運(yùn)動(dòng)規(guī)劃、傳感器系統(tǒng)、驅(qū)動(dòng)系統(tǒng)、控制系統(tǒng)等幾部分。
由于我們所開發(fā)的清洗機(jī)器人工作場(chǎng)所的特殊性,本課題在機(jī)器人結(jié)構(gòu)上的設(shè)計(jì)思想是:在保證機(jī)器人功能的前提下,力求結(jié)構(gòu)簡(jiǎn)單、可靠性高、運(yùn)行穩(wěn)定。
因?yàn)榕辣跈C(jī)器人在行進(jìn)過程中需要克服自身重力,所以較輕的機(jī)器人本體結(jié)構(gòu)
是一個(gè)需要著重考慮的設(shè)計(jì)因素。增加機(jī)器結(jié)構(gòu)的靈活性,導(dǎo)致的結(jié)果是機(jī)械結(jié)
構(gòu)變得復(fù)雜,需要使用到的機(jī)械元器件增多,重量必然增加,同時(shí)控制的復(fù)雜性
也增加。
高樓幕墻清洗機(jī)器人是一種爬壁機(jī)器人,因此,它必須具備兩大功能:負(fù)壁和移動(dòng)功能。
在本機(jī)器人系統(tǒng)中,考慮到機(jī)器人要有清洗功能,我們就到了水作為清潔劑來清洗,在提供水的過程中,我們又把它當(dāng)做動(dòng)力源,可以說只要有水就能讓它工作。因此我們主要考慮到了用水射流式清洗機(jī)器人。
2.2機(jī)器人總體結(jié)構(gòu)方案
運(yùn)用水射流式清洗機(jī)器人,能夠巧妙地把供水,供能,抽氣整合為一體。利用清潔水流經(jīng)射流發(fā)射器時(shí)產(chǎn)生的負(fù)壓來控制吸盤,機(jī)器人可以抽真空吸附在玻璃上。這樣就不像現(xiàn)已有的機(jī)器人那樣,需要帶上一個(gè)大大的氣泵。再利用水流經(jīng)射流發(fā)射器產(chǎn)生的被壓來推動(dòng)活塞桿,實(shí)現(xiàn)機(jī)器人的爬行驅(qū)動(dòng)。
為此,我們?cè)诮Y(jié)構(gòu)上采用了2個(gè)帶活塞桿吸盤互相運(yùn)動(dòng),來實(shí)現(xiàn)機(jī)器人的一直往前爬行運(yùn)動(dòng),而避免只有一個(gè)活塞吸盤能實(shí)現(xiàn)的往復(fù)運(yùn)動(dòng)。在再整體結(jié)構(gòu)上帶上2個(gè)拖把,隨著機(jī)器人的移動(dòng)而移動(dòng)來擦洗玻璃。結(jié)構(gòu)如圖1
這種結(jié)構(gòu)的該機(jī)器人,總體來說,具有如下特點(diǎn):
1,模塊化設(shè)計(jì),整個(gè)外形由同一種高分子有計(jì)劃和工程材料組成,便于連接和控制。
2,結(jié)構(gòu)簡(jiǎn)單緊湊,重量輕,同一動(dòng)力實(shí)現(xiàn)吸附和爬行運(yùn)動(dòng)兩種功能,減少動(dòng)力來源。便于協(xié)調(diào)控制。
圖1
這款機(jī)器人在總體結(jié)構(gòu)上輕巧,簡(jiǎn)單,把玻璃清潔機(jī)器人兩個(gè)最重要的部分:吸附機(jī)構(gòu)和擦洗機(jī)構(gòu)巧妙地融合在一起,減少了以其它動(dòng)力來實(shí)現(xiàn)這兩種功能的復(fù)雜性,具有很好的研究前景。
3 驅(qū)動(dòng)機(jī)構(gòu)和擦洗機(jī)構(gòu)
3.1 驅(qū)動(dòng)機(jī)構(gòu)分析
3.1.1 驅(qū)動(dòng)方式
80年代以來,自動(dòng)化、省力化得到迅速發(fā)展。自動(dòng)化、省力化的主要方式有:
機(jī)械方式、電氣方式、電子方式、液壓方式和氣動(dòng)方式等。這些方式都有各自的
優(yōu)缺點(diǎn)及其最適合的使用范圍。實(shí)際應(yīng)用中必須對(duì)各種技術(shù)進(jìn)行比較,揚(yáng)長(zhǎng)避短,
選出最適合方式或幾種方式的恰當(dāng)組合,以使系統(tǒng)更可靠、更經(jīng)濟(jì)、更安全、更
簡(jiǎn)單。
表1 各種傳動(dòng)與控制方式的比較
機(jī)械方式
電氣方式
電子方式
液壓方式
氣動(dòng)方式
驅(qū)動(dòng)力
不太大
不太大
小
大
稍大
驅(qū)動(dòng)速度
小
大
大
小
大
受負(fù)載影響
幾乎沒有
幾乎沒有
幾乎沒有
較小
大
維護(hù)
簡(jiǎn)單
有技術(shù)要求
技術(shù)要求高
簡(jiǎn)單
簡(jiǎn)單
遠(yuǎn)程操作
難
很好
很好
較良好
良好
綜合表1的比較,且由于機(jī)械驅(qū)動(dòng)方式結(jié)構(gòu)復(fù)雜,重量重,與前面吸附方式不合適,所以排除。吸附機(jī)構(gòu)沒用汽缸,固驅(qū)動(dòng)方式也不用了。再則,與前面的水射流式吸附方式匹配,我們用液壓方式驅(qū)動(dòng),只是把所用的油改成水。這種特殊的驅(qū)動(dòng)方式結(jié)合了液壓驅(qū)動(dòng)原理和水的功能,做到了水既是清潔劑,又是動(dòng)力源。
3.1.2運(yùn)動(dòng)結(jié)構(gòu)和運(yùn)動(dòng)規(guī)劃
本機(jī)器人從運(yùn)動(dòng)結(jié)構(gòu)來說,只是沿壁上下運(yùn)動(dòng),由兩個(gè)吸盤結(jié)構(gòu)組組成。兩吸附面要嚴(yán)格在同一平面上,保證一個(gè)吸住后,另一個(gè)也牢牢靠在玻璃上,不但活塞桿與吸盤間有密封,吸盤與玻璃壁面間也要有良好的密封裝置。前一個(gè)吸盤外殼與后一個(gè)吸盤中的活塞桿相連,而后一個(gè)吸盤外殼與前一吸盤中的活塞桿相連,實(shí)現(xiàn)吸盤的互補(bǔ)運(yùn)動(dòng),巧妙地把活塞缸的往復(fù)運(yùn)動(dòng)變?yōu)橐恢蓖暗闹本€運(yùn)動(dòng)。
其直線運(yùn)動(dòng)簡(jiǎn)圖如圖2
機(jī)器人直線運(yùn)動(dòng)簡(jiǎn)圖2
最早時(shí)上吸盤活塞靠底部,下活塞在中部。簡(jiǎn)單運(yùn)動(dòng)過程如下:
1:上吸盤吸附,壓力推動(dòng)活塞桿往上移動(dòng),移動(dòng)過程中帶動(dòng)下吸盤移動(dòng)。
此時(shí),下吸盤底部靠到下活塞。
2:下吸盤吸附,壓力推動(dòng)活塞桿往上移動(dòng),移動(dòng)過程中推動(dòng)上吸盤移動(dòng)。
此時(shí),兩吸盤回到原來的初始相對(duì)位置。完成一次運(yùn)動(dòng)過程。
3.1.3運(yùn)動(dòng)過程控制原理分析
機(jī)器人采用清潔水來驅(qū)動(dòng),其控制過程如圖3所示:
運(yùn)動(dòng)過程分析:
(1)2YA通電,工作腔1進(jìn)水,滿后,2YA斷電,與此同時(shí),1腔里的水經(jīng)射流發(fā)射器噴出,帶走里面的空氣,形成負(fù)壓,使得吸盤A吸附在玻璃上。
(2)此時(shí),4YA通電,3腔進(jìn)水,滿后,1YA通電,使2腔進(jìn)水,推動(dòng)活塞桿a向前移動(dòng),拉動(dòng)吸盤B往前移動(dòng),活塞至中間位置后,壓下行程開關(guān)。
(3)此時(shí),1YA,4YA斷電,3腔再次水滿,3腔水經(jīng)水射流發(fā)射器噴水,產(chǎn)生負(fù)壓,吸住吸盤B.
圖3
(4)此時(shí),2YA通電,1腔進(jìn)滿水后,3YA通電,使4腔進(jìn)水,推動(dòng)活塞桿b前進(jìn),使其推動(dòng)吸盤A前進(jìn),活塞桿至中間位置后壓下行程開關(guān),2YA,3YA斷電,此時(shí)1再次充滿水,再射流,如此循環(huán)下去,實(shí)現(xiàn)機(jī)器人的爬行運(yùn)動(dòng)。
電磁鐵的動(dòng)作表2
1YA
2YA
3YA
4YA
1腔進(jìn)水
+
1腔水滿射流
3腔進(jìn)水
+
2,3腔同進(jìn)水
+
+
3腔水滿射流
1腔進(jìn)水
+
1,4腔同進(jìn)水
+
+
1腔水滿
表2為電磁鐵動(dòng)作表,通過此表可以看出工作中液壓系統(tǒng)的基本回路。
3.1.4外形尺寸選擇
因吸盤帶有活塞桿,我們把吸盤設(shè)計(jì)成長(zhǎng)方體,為減輕整體重量,盡量把它設(shè)計(jì)簡(jiǎn)單,輕巧,受力面積相對(duì)厚度盡量大,使負(fù)壓大,重量輕,保證機(jī)器人牢牢吸附在玻璃上。則所選尺寸如下:
長(zhǎng)L=150mm, 寬B=100mm;
厚H=40mm, 壁厚h=10mm;
設(shè)計(jì)行程為s=50mm
其它尺寸選擇:活塞厚d=30mm,
桿截面取矩形,長(zhǎng)l=30mm,寬b=15mm
兩個(gè)拖把直接連接在吸盤的外壁上,體積與整體結(jié)構(gòu)相配合,重量輕。
3.1.5驅(qū)動(dòng)力分析
要實(shí)現(xiàn)機(jī)器人的吸附和運(yùn)動(dòng),在吸附力面積有限,而又有水的自身重力的情況下,保證機(jī)器人不掉下了和能夠驅(qū)動(dòng)它,就必須要求材料輕。而要保證來自水的驅(qū)動(dòng)而不變形或破裂,就要求這種材料滿足機(jī)器人所必須的強(qiáng)度和硬度。因此,選擇一種工程塑料來作為機(jī)器人的整體材料。
今選擇聚酰胺PA(又稱尼龍或綿綸),根據(jù)機(jī)械工程材料表9-2,
選擇 PA-66,它的抗拉強(qiáng)度為57~83MP,抗壓強(qiáng)度為90~120MP,抗彎強(qiáng)度為60~110MP,密度為1.14~1.15。這種材料可用于汽車,機(jī)械等零部件。
設(shè)定推動(dòng)活塞桿的速度是u=5mm/s
它所需流量Q=0.0050.080.03=0.000012m/s=0.72升/分
兩管同時(shí)進(jìn)水時(shí)流量Q=20.72=1.44升/分
今選用水泵參數(shù)如表3所示:
表 3
型
號(hào)
最大流量L/min
最高
揚(yáng)程m
進(jìn)出口
內(nèi)徑mm
工作
電流A
工作
電壓V
最大輸出壓力
ASP5526
2.6
55
進(jìn)6出10
<=2.2
12
0.55MP
要驅(qū)動(dòng)機(jī)器人,所需要的驅(qū)動(dòng)力必須要克服總重力加摩擦力
即
其中
因推動(dòng)活塞運(yùn)動(dòng)時(shí),另一個(gè)吸盤已經(jīng)失效,所以要牽引運(yùn)動(dòng)的吸盤的吸附力不大,摩擦力也就不大。
此時(shí),G=gv=21.0100.050.080.03=0.24N
估計(jì)外殼質(zhì)量
每千克螺栓質(zhì)量(帶螺母)為46kg 則7個(gè)為322g
由于射流器選用小型的,質(zhì)量小,估計(jì)1000g.
則
由于需要克服的總重力和摩擦力不大,用液壓方式的水來驅(qū)動(dòng)遠(yuǎn)滿足要求。
由于元件有6mm和8mm的通徑或者內(nèi)徑。選用內(nèi)徑為6mm外徑為8mm的硅膠水管及其內(nèi)徑為8mm外徑為10mm的硅膠水管。
3.1.6小結(jié)
在驅(qū)動(dòng)結(jié)構(gòu)設(shè)計(jì)和規(guī)劃中,重點(diǎn)介紹了機(jī)器人的驅(qū)動(dòng)方式,通過液壓方式的驅(qū)動(dòng)系統(tǒng)原理介紹,運(yùn)動(dòng)規(guī)劃圖來詳細(xì)介紹所設(shè)計(jì)機(jī)器人。
3.2擦洗機(jī)構(gòu)分析
由于考慮到機(jī)器人領(lǐng)域的整體復(fù)雜性,而且本機(jī)器人的主要目的是為了實(shí)現(xiàn)機(jī)器人的吸附和爬行運(yùn)動(dòng)。擦洗機(jī)構(gòu)就用兩個(gè)拖把固定在機(jī)器人的外殼上,隨著機(jī)器人的運(yùn)動(dòng)而運(yùn)動(dòng)但必須保證吸盤吸附時(shí),拖把能緊緊貼在玻璃上,實(shí)現(xiàn)擦洗功能。這樣的話,拖把在生產(chǎn)與安裝上都要達(dá)到一定制造精度和配合精度,實(shí)現(xiàn)把玻璃擦干凈。由于水往機(jī)器人兩側(cè)噴水,擦洗機(jī)構(gòu)也就固定在吸盤兩側(cè)。
4 其它元件選擇
4.1密封機(jī)構(gòu)
由于玻璃平面有一定程度的凸凹不平,機(jī)器人在移動(dòng)過程中就必須實(shí)現(xiàn)吸盤的可靠性密封,這就要求密閉機(jī)構(gòu)要有一定的防泄漏能力,為此,設(shè)計(jì)一種密閉結(jié)構(gòu)安裝在矩形吸盤的四周,它由鋁片和橡膠片組成。如圖5
圖4
不但吸盤與玻璃壁之間要有密封機(jī)構(gòu),活塞與吸盤之間也要有密封,選用型密封圈,因?yàn)樗哂辛己玫拿芊庑阅?,耐高壓,壽命長(zhǎng),通過調(diào)節(jié)壓緊力,可獲得最佳的密封效果。主要用與活塞桿的往復(fù)運(yùn)動(dòng)密封。
4.2換向閥和溢流閥的選擇
在液壓控制機(jī)器人的運(yùn)動(dòng)過程中,必須選用一些液壓控制閥來控制機(jī)構(gòu)運(yùn)動(dòng)。首先,選用一個(gè)o型三位四通電磁換向閥,不通電時(shí),P,A,B,T四口全封閉,電磁鐵通電后,所對(duì)應(yīng)的管口就接通,進(jìn)行工作。其次,還選用一個(gè)直動(dòng)型溢流閥,它可以起到調(diào)壓,穩(wěn)壓和限壓的作用。再次,選用兩個(gè)行程開關(guān),它配合電磁換向閥來工作,使提供吸附作用的水和驅(qū)動(dòng)機(jī)器人移動(dòng)的水完美結(jié)合使用。
5 總 結(jié)
目前高樓玻璃幕墻清洗機(jī)器人在我國(guó)大多只是應(yīng)用在試驗(yàn)室階段,并沒有具體作為產(chǎn)品推廣,而國(guó)外已經(jīng)開始投入具體實(shí)際應(yīng)用。因此,國(guó)內(nèi)清洗機(jī)器人有十分廣闊的應(yīng)用前景,盡快研制出一種能真正投入實(shí)際應(yīng)用的清洗機(jī)器人就顯得十分必要。
本文針對(duì)國(guó)內(nèi)高樓玻璃幕墻的清洗現(xiàn)狀,結(jié)合高樓玻璃幕墻清洗作業(yè)的具體
工作環(huán)境,開發(fā)設(shè)計(jì)出了一種專用于高樓玻璃幕墻清洗的水射流式清洗機(jī)器人,該清洗機(jī)器人具有結(jié)構(gòu)新穎、安全可靠、重量輕、效率高的特點(diǎn)。
本文主要進(jìn)行了以下幾個(gè)方面的工作并得出了結(jié)論:
1,設(shè)計(jì)出了一個(gè)完整的水射流式清洗機(jī)器人系統(tǒng)。整個(gè)系統(tǒng)包括結(jié)構(gòu)設(shè)計(jì)、驅(qū)動(dòng)系統(tǒng)設(shè)計(jì)、擦洗機(jī)構(gòu)分析。對(duì)機(jī)器人作業(yè)中的具體行走路徑進(jìn)行了規(guī)劃,并對(duì)整個(gè)機(jī)器人運(yùn)動(dòng)的液壓控制原理進(jìn)行了分析,來保證機(jī)器人的正常工作。
2,與傳統(tǒng)的機(jī)器人體積大,結(jié)構(gòu)復(fù)雜,需要配備一個(gè)大大的氣泵相比,本機(jī)器人充分運(yùn)用水的功能,既作為清潔劑,又是動(dòng)力源。
3,對(duì)系統(tǒng)中的主要元器件進(jìn)行了參數(shù)設(shè)計(jì)及選型,并詳細(xì)介紹了其主要性能參數(shù)。
參考文獻(xiàn)
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[2]陳沛富.玻璃幕墻清洗機(jī)器人設(shè)計(jì)研究:【碩士學(xué)位論文】重慶大學(xué).2006.5
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[4]楊其嘉.機(jī)器人清潔工現(xiàn)狀及未來.環(huán)境導(dǎo)報(bào).1994.3
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[6〕張兆君,周廷武,宗光華.擦窗機(jī)器人在高層建筑清洗中的應(yīng)用.建筑技術(shù).2001.9
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致 謝
在即將完成本科學(xué)習(xí)之際,首先我衷心感謝所有教過我的老師在這四年來對(duì)我知識(shí)的傳授和人文的關(guān)懷。由于你們的無私關(guān)心、幫助和指導(dǎo),使我受益匪淺。其次,特別感謝饒洪輝老師在百忙之中來指導(dǎo)我完成畢業(yè)設(shè)計(jì)。導(dǎo)師嚴(yán)謹(jǐn)?shù)闹螌W(xué)態(tài)度,一絲不茍的科研精神和對(duì)學(xué)術(shù)的執(zhí)著追求將使我終身受益。
在畢業(yè)設(shè)計(jì)期間,導(dǎo)師給予了我全面鍛煉的機(jī)會(huì),導(dǎo)師的悉心指導(dǎo)和嚴(yán)格要求使我的研究生學(xué)習(xí)和論文得以順利進(jìn)行。在此成文之際,謹(jǐn)向饒老師致以我最深切的敬意和最衷心的感謝。
感謝在學(xué)習(xí)期間,給予我鼓勵(lì)和幫助的所有同學(xué)及朋友。
感謝對(duì)論文進(jìn)行評(píng)審、提出寶貴意見的各位指導(dǎo)老師。
15
附 錄
The new high pressure cleaning the car
With the rapid development of industry, environment pollution is becoming more and more serious, the environmental protection question is already a global strategy. In order to adapt to the needs of the construction of urban environmental sanitation, clear in time the city, improve air quality, sanitation vehicles of development and development, has become an important topic of the set before us. The development of urbanization in our country, the increase of the road to the requirements of environmental protection and improve, which makes the sanitation car requirement increasingly, high pressure cleaning the car as a sanitation in vehicles, having to clean the road, guardrail and purify airy action, is one of the important urban environmental protection equipment. The current domestic production of high pressure cleaning car backward in technology, there are many problems; Foreign cleaning vehicle performance while is superior, but the price is expensive, need a lot of foreign exchange, it is not the solution to the problem. Therefore, the development of new high pressure cleaning cars has become China's urban environmental protection work important problem to be solved. It not only with independent intellectual property rights, and can improve the design level of our country special automobile, driving the sanitation vehicles in China to develop and manufacture independent design ability.
1 a general introduction
High pressure cleaning cars mainly by the power system, water system and hydraulic system, electronic control and manipulate system components. Power system for cleaning the car to walk and water pumps provide motivation. Water system mainly by the high pressure pump, water tank, valve, nozzle and other components, water through the pump pressure can improve after to 8 MP, form high pressure jet spraying to road, effectively flush the sand dust. Hydraulic system mainly by the hydraulic pump and motor and and valve set and other components, control vehicle to walk and injection action. Electric control part by sensors, SCM and main display control panel etc. In this paper the development of high pressure cleaning car main technical parameters are as follows:
The rating capacity; Engine output power 45 KW; The biggest water spray width is not less than 3 m; Spray work for vehicle speed 5 km/h; Spray water pressure is not less than 8 MP; Total number of nozzle 21; Water pump water largest amount 65 km/h.
2 power distribution and switching system
2.1 the basic principle of the power transmission and scheme selection
High pressure cleaning car according to the function of the realization of the divided into two kinds of state: a normal work is driving condition, high pressure cleaning the car and general at the same car, realize the transfer function; vehicle 2 it is watering operations state, the state in the vehicle with very low, the speed of the high pressure water spray homework, cleaning the road. Due to the high pressure cleaning the car need driving and driven two aspects of the pump power, so the dynamic how to provide design is to consider when the primary issue.
At home and abroad and usually use the power distribution solutions has two, one is to adopt double configuration of the engine power transmission system, is main engine vehicles not alter, transmission system will not do change, use a Taiwan independence in vehicles outside the system of power auxiliary engine drive hydraulic system for high pressure pump provide motivation.
The advantages of this scheme is simple in structure, the price is low, the disadvantage is as the vehicle in the water spray work driving the speed, low speed less than 10 km/h, this time the main engine can't work in the best working point, that power allocation is not reasonable, can produce fuel and power waste, and occupy the space of vice engine body, less the water storage volume, vice vehicle engine installation added new vibration noise sources, the influence the stability of the vehicle.
Another plan is to use the vehicle engine vehicle transmission system and hydraulic system provide the power, through the points with FenDongXiang action, in the transfer road, driven by the main engine FenDongXiang to driving axle differentials, high speed movement; vehicle In injection homework road, driven by the main engine FenDongXiang to hydraulic system, on the one hand, control operation speed, on the other hand, the drive pump water spray.
The scheme with the foregoing scheme, its advantage is compared, giving full play to the engine power, make the vehicle in the water spray operations can still working at high speed rating of the work of the state, not only save one engine, reduce the fuel consumption, and engine exhaust emission index is more advantageous to achieve urban environmental protection requirement. The vehicle structure more reasonable, vehicle weight of low, water storage space increases. To sum up, single engine configuration is a more reasonable configuration, so this paper power in the new, high pressure cleaning vehicle design, using a single engine design scheme.
2.2 power distribution
To ensure the high pressure pump provide of the injection pressure is constant, drive the hydraulic loop quantitative hydraulic pump must work in constant speed rating of the work of the state, water spray operations vehicle of the speed and the road of injection effect is also not to change about the amount of driving, so drive the variable pump will work in constant speed rating of the work of the state, the consumption of driving power also for setting value. Thus, when the engine power to homework for setting value.
2.3 new single axis FenDongXiang design
FenDongXiang power distribution is the core of the system, the traditional thought of design FenDongXiang usually adopts two to three axis structure of power distribution. This paper introduces the design of new light high-pressure cleaning vehicle USES the chassis is isuzu NKR55LLA light chassis, with traditional structure of the FenDongXiang sizes too large, can't meet the size requirement. According to the characteristics of the power distribution system, independent design and development of the single shaft driving, the FenDongXiang greatly reduced the FenDongXiang size, make body structure more compact.
3 hydraulic system
The hydraulic control system is watering operations every action when the key to meeting, and the main variable pump, the quantitative pump, the drive motors, hydraulic cylinder, cooler, integrated control valves piece, filter etc. From the function of the realization of the perspective, hydraulic system by hydraulic motor drive travel system and hydraulic pressure motor drive water spray system two sub-systems.
3.1 hydraulic motor drive driving system
The variable pump, hydraulic motor and the corresponding hydraulic loop hydraulic subsystem, a walk for the system for oil pump, and quantitative pump coaxial connected. This system consists of integrated control valves to realize the control of hydraulic pump and hydraulic system. The variable pump and motor selection, according to the basic power to determine the value.
3.2 hydraulic motor drive water spray system
Hydraulic motor drive water spray system by quantitative pump, quantitative hydraulic motor, water pump, relief valve, cooler, filter and hydraulic cylinder and stacked valves group etc. For the hydraulic cylinder and stacked valves group together, for the control of water spray frame lift, extendable such action. The hydraulic oil tank, passes through to return to cooler water.
4 water injection system
The water system is high pressure cleaning the car mainly by the core part high pressure water pump, water spray nozzle, frame, the spray gun and valve etc. Water tank flow of water out of the pump will improve after water pressure to 8 MP, form high pressure jet spraying to the road. The high pressure pump rational selection of engine efficiency, the best utilization, best flush efficiency have important influence, need according to the design requirements and engine parameters, such as to determine the high-pressure pump power, speed and the parameters such as pump pressure at work. Water system design of the main problems including the following two aspects.
4.1 the telescopic multi-degree-of-freedom water spray frame
Water spray frame is injection system of actuators, installed in high pressure cleaning car head, high pressure water spray nozzle in the frame. To increase the width of the jet wash, design the new hydraulic control expansion institutions. Work, install a nozzle two of the rear protruding from the front of the car, and the nozzle into a straight line, and the high pressure water jet to; After completion of work, back to the nozzle tube retract side. Water spray frame from ground level also controlled by hydraulic system, also designs of the mechanical structure, highly fine-tuning height adjustment to trace.
4.2 water spray system parameters optimization
High pressure cleaning the car is the purpose of the quality of the road surface cleaning out clean, so, how to improve the cleaning effect, water conservation is design to consider when important question, also is the past studies the problem of no point to consider. The effect of road surface cleaning and many parameters. Including injection height, the shape of the nozzle, injection pressure, injection Angle, jet width, nozzle diffusion Angle, distance of the nozzle. Through a lot of the theoretical and experimental research, to determine the height of the injection pressure injection, jet Angle, the width of the jet, the nozzle of the diffusion Angle of pavement, wash the best results, the wash rate in above, clean unit area of the pavement, the consumption of water and energy, reached the best matching value.
5 electronic control and operation system design
Electronic control system to realize the working state of the vehicle display, monitoring, alarm and control etc. Function. Mainly includes the instrument shows system, dashboard, the hydraulic oil drive speed dial, hydraulic oil temperature display, hydraulic display, water tank water of the display and alarm, PenShuiGuan working status display, hydraulic system running time records, and other functions, the whole system USES modular design, the control panel integrated in driving indoor proper place, facilitate the operator control operation.
The water tank of the monitoring and forecast of electric control system is the important link, must be strictly controlled. Tank water after cooler for hydraulic oil after cooling to enter high pressure pump and so have a water tank must be reserved to the amount of water. In the the design of the magnetic levitation type level sensor, accurately measure the level of height. Control system mainly including operation box, the power switch handle, oil, left, pedal drove speed, PenShuiGuan right control handle, water spray handle adjustable control handle to and fro and speed of the pedals. The design of the control system, the arrangement of the operation box, structure, the handle position, fully considered the man-machine engineering requirements, easy to control.
6 general structure design
On the structure, the vehicle including chassis (with cab), water tank, hydraulic oil tank, water pump, FenDongXiang, water spray rack large components. Water pump and hydraulic pressure tank parallel is decorated in the cabin and water tank, or so between both sides put hinged door outside using, open convenient, convenient in maintenance inspection. Water tank use stainless steel structure, outside the oval with decoration side wai and skirt edge. FenDongXiang arrangement in the chassis and the hydraulic oil tank in water pump, transmission and the second transmission shaft between. Vehicle used Unigraphics software for 3 d software entities, and USES the design of the vehicle assembly function of virtual assembly.
7 conclusion
The development of new high pressure cleaning car, in order to improve the effect of washing and energy saving as the core, using a single engine the configuration of the power distribution way, give full play to the water spray operations of engine power, improving the pressure of spray water; And the pavement flush the influence on the effect of parameters are optimized. The power distribution system, hydraulic system, water system, electronic control and control system, overall structure are studied. In the bodywork, single axis FenDongXiang development and research aspects such as road flush effect for several patents. This paper developed new high pressure cleaning car, prototype test each index, through to reserve requirements. High pressure cleaning the development of the new car, for the country's high performance high-pressure cleaning the car independent development and played a good role.
新型高壓清洗車
隨著工業(yè)的迅猛發(fā)展,環(huán)境污染顯得越來越嚴(yán)重,環(huán)保問題已是一個(gè)全球的戰(zhàn)略問題。為適應(yīng)城市環(huán)境衛(wèi)生建設(shè)的需要,及時(shí)清理城市路面,改善空氣質(zhì)量,環(huán)衛(wèi)車輛的開發(fā)和發(fā)展,已成為擺在我們面前的重要課題。我國(guó)城市化的發(fā)展,道路的增加及對(duì)環(huán)保要求的提高,使得對(duì)環(huán)衛(wèi)車的需求日益增加,高壓清洗車作為環(huán)衛(wèi)車輛中的一種,具有清洗道路、護(hù)欄和凈化空氣的作用,是城市環(huán)保的一種重要設(shè)備 。目前國(guó)內(nèi)生產(chǎn)的高壓清洗車技術(shù)落后,存在許多問題;國(guó)外的清洗車性能雖然優(yōu)越,但價(jià)格昂貴,需要大量的外匯,終究不是解決問題的辦法。為此,開發(fā)新型的高壓清洗車已成為我國(guó)城市環(huán)保工作中需要解決的重要問題。它不但具有自主知識(shí)產(chǎn)權(quán),而且可以提高我國(guó)專用車的設(shè)計(jì)水平,帶動(dòng)我國(guó)環(huán)衛(wèi)車輛的自主設(shè)計(jì)開發(fā)及制造能力。
1 總體介紹
高壓清洗車主要由動(dòng)力系統(tǒng)、水系統(tǒng)、液壓系統(tǒng)、電控及操縱系統(tǒng)等部分組成。動(dòng)力系統(tǒng)為清洗車的行走和水泵提供動(dòng)力。水系統(tǒng)主要由高壓水泵、水箱、閥、噴嘴等組成,水流經(jīng)水泵后壓力可以提高到8MP,形成高壓射流噴射到路面,有效地沖洗路面的灰塵砂粒。液壓系統(tǒng)主要由液壓泵、馬達(dá)和和閥組等組成,控制車輛的行走和噴射動(dòng)作。電控部分主要由傳感器、單片機(jī)及顯示控制面板等組成 。本文開發(fā)的高壓清洗車主要技術(shù)參數(shù)如下:
額定容量 ;發(fā)動(dòng)機(jī)輸出功率 45KW;最大噴水寬度不小于3m;噴射工作時(shí)車輛行駛速度為 5km/h;噴射水壓不小于8MP;噴嘴總數(shù) 21 個(gè);水泵最大噴水量 65km/h。
2動(dòng)力分配及切換系統(tǒng)
2.1動(dòng)力傳動(dòng)的基本原理及方案選擇
高壓清洗車根據(jù)其實(shí)現(xiàn)的功能分為兩種工作狀態(tài):一是正常行駛狀態(tài),此時(shí)高壓清洗車和一般的車一樣,實(shí)現(xiàn)車輛的轉(zhuǎn)移功能;二是噴水作業(yè)狀態(tài),在此狀態(tài)下,車輛以很低的速度進(jìn)行高壓噴水作業(yè),清洗路面。由于高壓清洗車需要行駛和驅(qū)動(dòng)水泵兩方面的動(dòng)力,所以該動(dòng)力如何提供是設(shè)計(jì)時(shí)需要考慮的首要問題。
目前國(guó)內(nèi)外通常使用的動(dòng)力分配方案有兩種,一是采用雙發(fā)動(dòng)機(jī)配置的動(dòng)力傳動(dòng)系統(tǒng),即車輛主發(fā)動(dòng)機(jī)不作改動(dòng),傳動(dòng)系統(tǒng)也不作改動(dòng),使用一臺(tái)獨(dú)立于車輛動(dòng)力系統(tǒng)之外的輔助發(fā)動(dòng)機(jī)驅(qū)動(dòng)液壓系統(tǒng)為高壓水泵提供動(dòng)力。
該方案的優(yōu)點(diǎn)是結(jié)構(gòu)簡(jiǎn)單,價(jià)格較低,缺點(diǎn)是由于車輛在噴水工作時(shí)低速行駛,其速度小于10km/h,此時(shí)主發(fā)動(dòng)機(jī)不能工作在最佳工作點(diǎn),使功率分配不合理,會(huì)產(chǎn)生燃料和功率的浪費(fèi),同時(shí)副發(fā)動(dòng)機(jī)占據(jù)車身的空間,相對(duì)減少了車輛的蓄水體積,副發(fā)動(dòng)機(jī)的安裝增加了新的振動(dòng)噪聲源,影響整車的穩(wěn)定性。
另外一種方案是采用車用主發(fā)動(dòng)機(jī)為車輛傳動(dòng)系統(tǒng)和液壓系統(tǒng)提供動(dòng)力,通過分動(dòng)箱的分動(dòng)作用,在轉(zhuǎn)移行駛時(shí),動(dòng)力由主發(fā)動(dòng)機(jī)經(jīng)分動(dòng)箱到后橋差速器,車輛高速運(yùn)動(dòng);在噴射作業(yè)行駛時(shí),動(dòng)力由主發(fā)動(dòng)機(jī)經(jīng)分動(dòng)箱傳到液壓系統(tǒng),一方面控制作業(yè)行駛速度,另一方面驅(qū)動(dòng)水泵噴水。
該方案與前述方案相比較,其優(yōu)點(diǎn)在于,充分發(fā)揮了發(fā)動(dòng)機(jī)的功率,使車輛在噴水作業(yè)時(shí)仍可以工作在高轉(zhuǎn)速的額定工作狀態(tài),不但節(jié)省了一臺(tái)發(fā)動(dòng)機(jī),降低了燃油消耗,同時(shí)發(fā)動(dòng)機(jī)尾氣排放指標(biāo)更有利于達(dá)到城市環(huán)保要求。整車的結(jié)構(gòu)更加合理,車輛的自重較低,蓄水空間相應(yīng)增加。綜上所述,單發(fā)動(dòng)機(jī)配置是一種更為合理的動(dòng)力配置方案,所以本文在新型高壓清洗車的設(shè)計(jì)中,采用了單發(fā)動(dòng)機(jī)的設(shè)計(jì)方案。
2.2功率的合理分配
為保證高壓水泵提供的噴射壓力恒定,驅(qū)動(dòng)該液壓回路的定量液壓泵必須工作在恒轉(zhuǎn)速的額定工作狀態(tài),噴水作業(yè)時(shí)車輛的行駛速度與路面的噴射效果有關(guān),也是不可改變的量,所以驅(qū)動(dòng)行駛的變量泵也要工作在恒轉(zhuǎn)速的額定工作狀態(tài),行駛消耗的功率也為定值。因而,作業(yè)時(shí)需要的發(fā)動(dòng)機(jī)功率為定值。
2.3新型單軸分動(dòng)箱的設(shè)計(jì)
分動(dòng)箱是動(dòng)力分配系統(tǒng)的核心部分,傳統(tǒng)思想設(shè)計(jì)的分動(dòng)箱通常采用二到三軸結(jié)構(gòu)進(jìn)行動(dòng)力分配。本文設(shè)計(jì)的新型輕型高壓清洗車采用的底盤是五十鈴NKR55LLA 輕型底盤,用傳統(tǒng)結(jié)構(gòu)的分動(dòng)箱尺寸偏大,無法滿足尺寸要求。根據(jù)動(dòng)力分配系統(tǒng)的特點(diǎn),自主設(shè)計(jì)開發(fā)了單軸傳動(dòng)的分動(dòng)箱,大大減小了分動(dòng)箱的尺寸,使車身結(jié)構(gòu)更加緊湊。
3液壓系統(tǒng)
液壓控制系統(tǒng)是噴水作業(yè)時(shí)各個(gè)動(dòng)作得以實(shí)現(xiàn)的關(guān)鍵,主要由變量泵、定量泵、驅(qū)動(dòng)馬達(dá)、液壓缸、冷卻器、集成控制閥塊、過濾器等組成。從實(shí)現(xiàn)的功能上來看,液壓系統(tǒng)由液壓馬達(dá)驅(qū)動(dòng)行走系統(tǒng)和液壓馬達(dá)驅(qū)動(dòng)噴水系統(tǒng)兩個(gè)子系統(tǒng)組成。
3.1液壓馬達(dá)驅(qū)動(dòng)行駛系統(tǒng)
變量泵 、液壓馬達(dá) 和相應(yīng)的液壓回路構(gòu)成了液壓行走子系統(tǒng), 為系統(tǒng)的補(bǔ)油泵,與定量泵同軸連接。該系統(tǒng)由集成控制閥塊實(shí)現(xiàn)對(duì)油路和液壓泵的控制。變量泵及馬達(dá)的選型,基本根據(jù)前述的功率值來確定。
3.2液壓馬達(dá)驅(qū)動(dòng)噴水系統(tǒng)
液壓馬達(dá)驅(qū)動(dòng)噴水系統(tǒng)由定量泵 、定量液壓馬達(dá) 、水泵 、溢流閥、冷卻器、過濾器和液壓缸及疊加閥組 等組成。 為液壓缸和疊加閥組共同組成,用于控制噴水架的升降、伸縮等動(dòng)作。液壓油返回油箱時(shí),經(jīng)過水冷卻器冷卻。
4水噴射系統(tǒng)
水系統(tǒng)是高壓清洗車的核心部分 主要由高壓水泵、噴水架、噴嘴、噴槍及閥等組成。水箱流出的水經(jīng)水泵后將水壓提高到8MP ,形成高壓射流噴射到路面。高壓泵的合理選取,對(duì)發(fā)動(dòng)機(jī)效率的最佳利用、最佳沖洗效率都有重要的影響,需要根據(jù)設(shè)計(jì)要求及發(fā)動(dòng)機(jī)參數(shù)等來確定高壓泵的功率、工作轉(zhuǎn)速和泵壓等參數(shù)。水系統(tǒng)設(shè)計(jì)中的主要問題包括以下兩個(gè)方面。
4.1伸縮式多自由度噴水架
噴水架是噴射系統(tǒng)的執(zhí)行機(jī)構(gòu),安裝在高壓清洗車頭部,高壓噴嘴安裝在噴水架上。為增加路面噴射沖洗的寬度,設(shè)計(jì)了新型液壓控制伸縮機(jī)構(gòu)。工作時(shí),安裝有噴嘴的兩根后排管向外伸出,與車頭前方的主噴管成一直線,同時(shí)向路面噴射高壓水流;工作完成后,后排管縮回主噴管后側(cè)。噴水架的離地高度也由液壓系統(tǒng)控制,同時(shí)還設(shè)計(jì)了機(jī)械式高度微調(diào)結(jié)構(gòu),對(duì)高度進(jìn)行微量調(diào)節(jié)。
4.2噴水系統(tǒng)參數(shù)的優(yōu)化
高壓清洗車的用途是清洗出優(yōu)質(zhì)清潔的路面,所以,如何提高路面清洗效果、節(jié)約用水是設(shè)計(jì)時(shí)需要考慮的重要問題,也是以往的研究沒有重點(diǎn)考慮的問題。路面清洗的效果和許多參數(shù)有關(guān)。包括噴射高度 、噴嘴的形狀、噴射的壓力、噴射角度 、射流寬度 、噴嘴擴(kuò)散角 、噴嘴間距等 。通過大量的理論和試驗(yàn)研究,確定了噴射高度噴射的壓力、噴射的角度、射流的寬度、噴嘴的擴(kuò)散角 時(shí),對(duì)路面進(jìn)行沖洗的效果最佳,路面的洗凈率在 以上,清洗單位面積的路面所消耗的水量和能量,都達(dá)到了最佳匹配值。
5電控及操作系統(tǒng)設(shè)計(jì)
電控系統(tǒng)要實(shí)現(xiàn)車輛的工作狀態(tài)顯示、監(jiān)測(cè)、報(bào)警和控制等功能。主要包括儀表顯示系統(tǒng)、儀表盤、液壓油驅(qū)動(dòng)車速表盤、液壓油溫顯示、油壓顯示、水箱的水位顯示及報(bào)警、噴水管工作狀態(tài)顯示、液壓系統(tǒng)運(yùn)行時(shí)間記錄等功能,整個(gè)系統(tǒng)采用模塊化設(shè)計(jì),控制面板集成在駕駛室內(nèi)適當(dāng)位置,便于操作者控制操作。
水箱水量的監(jiān)測(cè)和預(yù)報(bào)是電控系統(tǒng)的重要環(huán)節(jié),必須嚴(yán)格控制。水箱內(nèi)的水經(jīng)過冷卻器為液壓油冷卻后才進(jìn)入高壓水泵,所以水箱內(nèi)必須有相當(dāng)?shù)念A(yù)留水量。設(shè)計(jì)時(shí)采用了磁浮式液位傳感器,準(zhǔn)確測(cè)定液位的高度。操控系統(tǒng)主要包括操縱箱,動(dòng)力切換手柄,油驅(qū)車速踏板,左、中、右噴水管伸縮控制手柄,噴水柄前后擺動(dòng)控制手柄和車速踏板。操控系統(tǒng)的設(shè)計(jì),操縱箱的布置、結(jié)構(gòu),各手柄的位置,充分考慮了人機(jī)工程學(xué)要求,便于操控。
6總體結(jié)構(gòu)設(shè)計(jì)
在結(jié)構(gòu)上,整車包括底盤(帶駕駛室)、水箱、液壓油箱、水泵、分動(dòng)箱、噴水架等大型組件。水泵和液壓油箱平行布置在駕駛室和水箱之間,左右兩側(cè)采用外擺鉸鏈?zhǔn)杰囬T,開啟方便,便于維修檢查。水箱采用不銹鋼橢圓形結(jié)構(gòu),外面配有裝飾側(cè)圍及裙邊。分動(dòng)箱布置在底盤內(nèi)液壓油箱和水泵下部,變速器和第二傳動(dòng)軸之間。整車采用Unigraphics 軟件進(jìn)行三維實(shí)體設(shè)計(jì),并采用其裝配功能進(jìn)行了整車的虛擬裝配。
7 結(jié)論
新型高壓清洗車的研制,以提高路面沖洗效果和節(jié)約能源為核心,采用了單發(fā)動(dòng)機(jī)配置的動(dòng)力分配方式,充分發(fā)揮噴水作業(yè)時(shí)發(fā)動(dòng)機(jī)的功率,提高了噴水壓力;并對(duì)路面沖洗效果的影響參數(shù)進(jìn)行了優(yōu)化。對(duì)動(dòng)力分配系統(tǒng)、液壓系統(tǒng)、水系統(tǒng)、電控及操縱系統(tǒng)、總體結(jié)構(gòu)等都進(jìn)行了深入的研究。在車身外形、單軸分動(dòng)箱的開發(fā)以及路面沖洗效果等研究方面申請(qǐng)了數(shù)項(xiàng)專利。本文研制的新型高壓清洗車,經(jīng)過樣車試驗(yàn),各項(xiàng)指標(biāo)都達(dá)到了預(yù)定要求。新型高壓清洗車的研制,為我國(guó)高性能高壓清洗車的自主開發(fā),起到了良好的推動(dòng)作用。
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