摘要
为应对日趋复杂的核生化安全威胁,进一步提升洗消装备的自动化程度和快速作业能力,设计用于装备快速自动化洗消的自动洗消机械臂。给出洗消作业流程,采用多层臂架折叠技术实现越野底盘车载需求,通过多自由度复合运动控制技术实现自动化洗消过程所需的精确匀速直线运动。结果表明:该机械臂能用于对车辆和大型目标物的快速、自动化洗消,有军事和民用意义。
In order to cope with the increasingly complex threats of nuclear and biochemical safety,and further improve the automation and quick operation ability of the decontamination equipment,an automatic decontamination manipulator for equipment rapid and automated decontamination was designed.The decontamination operation process was expounded,and the vehicle-mounted requirements of off-road chassis were met by the multi-layer boom folding technology.The precise and uniform linear motion required in the automatic decontamination process was realized by the multi-degree-of-freedom compound motion control technology.The results show that it can be used for the requirements of rapid and automatic decontamination of vehicles and large objects,and has obvious military and civilian significance.
作者
王志甄
廖洋
邹志云
娄雷
周守艳
Wang Zhizhen;Liao Yang;Zou Zhiyun;Lou Lei;Zhou Shouyan(Research Institute of Chemical Defense,Military Academy of Sciences,Beijing 102205,China;XCMG Xuzhou Truck-mounted Crane Co.,Ltd.,Xuzhou 221007,China)
出处
《兵工自动化》
2019年第3期92-96,共5页
Ordnance Industry Automation
关键词
洗消
防化
机械臂
龙门
电液伺服
多自由度
decontamination
chemical defense
manipulator
frame
electro-hydraulic servo
multi-degree-of-freedom