三自由度液压机械臂自动整平系统设计与研究  

Design and Research of Automatic Leveling System for Three Degrees of Freedom Hydraulic Boom

作　　者：朱明清 董奇峰 程茂林[1,3] 夏昊 孟林园[5] ZHU Mingqing;DONG Qifeng;CHENG Maolin;XIA Hao;MENG Linyuan(CCCC Second Harbor Engineering Company Ltd.,Wuhan Hubei 430040,China;Key Laboratory of Large-span Bridge Construction Technology,Wuhan Hubei 430040,China;Research and Development Center of Transport Industry of Intelligent Manufacturing Technologies of Transport Infrastructure,Wuhan Hubei 430040,China;CCCC Highway Bridge National Engineering Research Centre Co.,Ltd.,Wuhan Hubei 430040,China;School of Mechanical Engineering,Yanshan University,Qinhuangdao Hebei 066004,China)

机构地区：[1]中交第二航务工程局有限公司,湖北武汉430040 [2]长大桥梁建设施工技术交通行业重点实验室,湖北武汉430040 [3]交通运输行业交通基础设施智能制造技术研发中心,湖北武汉430040 [4]中交公路长大桥建设国家工程研究中心有限公司,湖北武汉430040 [5]燕山大学机械工程学院,河北秦皇岛066004

出　　处：《机床与液压》2024年第9期94-99,共6页Machine Tool & Hydraulics

基　　金：中交第二航务工程局有限公司科技研发资助项目(HT-2016-A-07-009)。

摘　　要：针对水下抛石基床整平需求,设计一套基于挖掘机三自由度液压机械臂的自动整平系统。对臂架机械结构进行适应性改造,通过试验计算其作业负载,结合有限元法验证改造结构的可靠性。基于D-H法和几何法搭建臂架正、逆运动学模型,将铲尖轨迹运动转换为臂架各构件的协同控制。设计基于PID控制的臂架电液比例位置控制系统,通过AMESim验证了臂架驱动控制系统方案的可行性。结合北斗定位技术,搭建臂架自动整平系统架构,提出适用于工程应用场景的定位、整平作业流程。最后,通过工程试验和应用对自动整平系统进行了验证。试验和应用结果表明:采用三自由度液压机械臂的基床整平效率更高、成本更低,整平精度也满足施工要求。An automatic leveling system based on three degrees of freedom hydraulic boom of excavator was designed to meet the leveling requirements of underwater riprap foundation.The mechanical structure of the boom was reformed,and the working load was calculated by experiments,and the reliability of the modified structure was verified by finite element method.The forward and inverse kinematics models of the boom were built based on D-H method and geometric method,and the trajectory motion of the shovel tip was transformed into the cooperative control of the boom components.The electro-hydraulic proportional position control system of the boom was designed based on PID control,and the feasibility of the drive control system of the boom was verified by AMESim.Combined with Beidou positioning technology,the framework of the automatic leveling system of the boom was built,and the positioning and leveling process suitable for engineering application scenarios was proposed.Finally,the automatic leveling system was verified by engineering test and application.The test and application results show that the leveling efficiency and cost of the three degrees of freedom hydraulic manipulator are higher,and the leveling accuracy also meets the construction requirements.

关 键 词：自动整平系统 运动学模型 电液比例位置控制系统 

分 类 号：TU69[建筑科学—建筑技术科学] TP24[自动化与计算机技术—检测技术与自动化装置]