超高压水射流破拆机器人液压系统设计与研究

采用大流量超高压水射流可以对混凝土进行破碎和拆除，利用水射流对混凝土进行破拆时喷枪会产生较大的反作用力而无法用人工来扶持，为实现混凝土建筑物破拆的自动化以及高效化，采用液压驱动的履带式移动机器人喷枪搭载平台被设计出来。研究了超高压水射流破拆机器人的组成和工作原理，并根据机器人执行破拆动作时，各机构特性以及工作参数，设计了超高压水射流破拆机器人液压系统，并针对机器人机械臂架翻转以及往复运动机构的驱动部件进行了详细的设计，最后对液压系统的特性进行了分析和总结。

Design and Research of Hydraulic System on Ultra high Pressure Water Jet Demolition Robot

Concrete could be demolished by ultra high pressure water jet. There is great acting force on spray gun when ultra high pressure jet is used to remove the concrete. Because of this, human could not hold up the spray gun. For the purpose of removing concrete buildings automatically and efficient, a track robot which drover by hydraulically was designed to be fixed the spray on. Composition and operating principles of ultra high pressure water jet demolition robot were studied. Hydraulic system of this demolition robot was designed. Reversing and reciprocating mechanism of the mechanical arm′s moving parts were designed in this paper. At last, features of this hydraulic system are analyzed and concluded.