仿生挖掘机器人结构设计与运动特性分析

The Structure Design and Motion Characteristics Analysis of the Bionic Digging Robot

在地下管线的铺设过程中,一些地段及建筑物的下方不允许从地表进行开挖,这时设计一种地下挖掘机器人就具有重要的实际意义。应用仿生原理,在研究了鼹鼠挖掘的功能形态学、挖掘技术及挖掘运动轨迹的基础上,提出了仿生挖掘机器人前肢挖斗、后肢铲斗和挤压板在工作时的轨迹要求及位移匹配要求。以挖洞直径设计出躯体的长和宽,以轨迹、位移匹配为目标设计了前肢、后肢五杆机构以及挤压机构的尺寸和安装点位。基于ADAMS软件研究了在一个运动周期内,前肢挖斗、后肢铲斗和挤压板的位移、速度和加速度随时间变化的规律。结果表明所设计的挖掘机器人结构合理,按照设计的运动次序工作时,挖斗、铲斗和挤压板之间不会产生运动干涉,并能使挖掘、排土和挤压运动过程紧密衔接。

A subterranean digging robot was designed which has important practical significance in the underground pipeline laying process, when some of the location and the buildings are not allowed to dig from the surface.Application of bionic principle, the digging trajectory and displacement matching requirements of the forelimb bucket, hind legs shovel and bulldozing plate of digging robot was presented after studying of the digging functional morphology, digging technology and digging trajectory of the mole. The length and width of the body was designed based on the diameter of the hole to dig out, the size and installation angle direction for five-bar mechanism of forelimb, hind legs and the pressure of couping mechanism was designed based on the digging trajectory and displacement matching requirements. The change of the displacement, velocity and acceleration of the forelimb bucket, hind legs shovel and bulldozing plate of digging robot were emphatically analyzed using software ADAMS with time in a period. The results show that the structure of digging robot is reasonable. Digging, dumping and extruding can be linked up tightly without movement interference among bucket, shovel and bulldozing plate when working as planed motion sequence.