超高压水射流破拆机器人持枪机构设计

Gun holding mechanism for ultra-high pressure water jet robot

针对超高压水射流破拆作业的安全及效率问题,设计了超高压水枪夹持摇摆机构。基于破拆机理,设计了曲柄摇杆式水枪摇摆机构,并建立了水枪摇摆机构的运动分析模型;在对破拆作业最优靶距及摆角研究的基础上,优化了曲柄摇杆式水枪摇摆机构;基于流体力学理论,建立了破拆反冲力与水压、流量及靶距之间的关系;采用有限元分析方法,对水枪夹持装置进行了应力分析。研究结果表明:曲柄摇杆机构可实现喷射的最佳靶距及摆角,能有效提高破拆打击力及效率。应用结果表明:该水枪夹持摇摆机构可显著提高破拆效率及安全性。

Aiming at the safety and efficiency of ultra-high pressure water jet, the clamping and swinging mechanism of ultra-high pressure water gun was designed. Based on the mechanism of concrete demolition,the crank-rocker type water gun swaying mechanism was designed and its kinematic characteristics was established. According to the optimum target distance and swaying angle, the swing mechanism was optimized. Based on the fluid mechanics, the relationship between jet force and pressure, flow and target distance was established. Appling finite element analysis method, the stress of the clamping device was worked out. The results indicate that the clamping device can realize the clamping reliably, the crank-rocker mechanism can improve the demolition efficiency. The experiment show that this mechanism can improve the efficiency and safety of demolition remarkably.