南疆地区防渗渠清淤机器人的设计

Design of Anti-seepage Canal Desilting Robot for Southern Areas of Xinjiang

通过采样南疆地区防渗渠的淤泥样本,搭建清淤装置试验平台,寻找清淤装置的最优结构和最佳动力学参数,结合实际工况,建立了基于南疆地区防渗清淤机器人整机设计方案与动力学模型,对该机器人进行了机械臂的轨迹规划和优化。该清淤机器人设有滚筒刷,可以实现对防渗渠底部以及侧边的清淤功能,在滚筒刷顶部设置有传感器系统,传感器检测清淤装置与淤泥的距离,把位置检测信号反馈至控制系统的上位机中,上位机经过信号转换处理,把电信号传输到下位机中的每一个电液比例控制阀,电液比例控制阀控制多关节机械臂中的每一个液压缸和液压马达实现多关节机械臂装置的自适应控制。本清淤机器人的设计在一定程度上节约了人力物力,减少了清淤成本,提高了灌溉效率。

By sampling the silt samples of the anti-seepage canal in southern Xinjiang,the test platform of the desilting device was built to find the optimal structure and optimal dynamic parameters of the desilting device.Combined with the actual working conditions,the design and dynamic model of the anti-seepage and desilting robot in southern Xinjiang was established,and the trajectory of the manipulator was planned and optimized.The desilting robot was equipped with roller brush,it can realize the dredging function of the bottom and side of the anti-seepage channel.A sensor system was set at the top of the roller brush.The sensor detected the distance between the dredging device and the sludge and fed back the position detection signal to the upper computer of the control system.After signal conversion processing,the upper computer transmitted the electrical signal to each electro-hydraulic proportional control valve in the lower computer,the electro-hydraulic proportional control valve controlled each hydraulic cylinder and hydraulic motor in the multi joint manipulator to realize the adaptive control of the multi joint manipulator device.The design of the desilting robot saved human and material resources to a certain extent,reduced the desilting cost and improved the irrigation efficiency.