深井救援机械手的机构设计

:20101203:(1976-),,,,,.Email:[e-mail]33220114()JofChinaThreeGorgesUniv.(NaturalSciences)Vol33No.2Apr2011丁昌鹏张屹张虎王盈(三峡大学机械与材料学院,湖北宜昌443002):救援设备的性能特点直接影响救援的效率和成功率,针对深井掉人事故的救援问题,提出了一种快速高成功率的深井救援机械手代替消防人员实施井下营救.描述了机械手的总体设计方案,设计了机械手的定位调位和夹持3个主要机构,阐述了井下人员在不同状态下机械手的工作过程,该机械手丰富了深井救援装备的研究成果.:深井救援;机械手;机构设计:TP242:A:1672948X(2011)02007906MechanismDesignofDeepWellRescueManipulatorDingChangpengZhangYiZhangHuWangYing(CollegeofMechanical&MaterialEngineering,ChinaThreeGorgesUniv.,Yichang443002,China)AbstractTheperformanceoftherescueequipmentaffectstheefficiencyandsuccessfulrateoftherescuedirectly.Tosolvetherescueproblemoftheaccidentofpeoplefallingintodeepwell,anefficient,highsuccessfulraterescuemanipulatorinsteadoffirefightersimplementdeepwellrescueisproposed.Wedescribetheoveralldesignoftherobotanddesignthethreemainagenciesofthemanipulator,includingpositioningmechanism,tunebitorganizationandfixture.Wedescribetheworkingprocessofthemanipulatorwhentrappedpeopleundergroundindifferentsituations.Themanipulatorhasenrichedtheresearchresultsofdeepwellrescueequipment.Keywordsdeepwellrescue;manipulator;mechanismdesign,,.,,,,,,,.,,,,..,,;,,,15m,.,,.1,,,.,.,,,,.2,:.,,,.,,.,,.,,,.,,.,,.,,..1.1233.13,,.,,.,,4,,4,.,,,.,.400~800mm,400mm,30,90.L=120mm,80()20114S=L2tan30-L2tan90=104mm(1)3.2,.(1)5,,,,,,,,,.1.;2.;3.;4.;5.515r/min,15r/min,=3,z1=18,,d=0.5,m=2,,5r/min.d1=z1m=182mm=36mm(2)d2=z1m=1823mm=108mm(3)a=d1+d22=36+1082mm=72mm(4)b=dd1=0.536mm=18mm(5)(2)6,(),,,(),(),(),.n=200r/min,200mm,,d2=9.00mm,d=10mm,p=2mm.1min,s,[1]P251(1223)s=l/(2)=pn=2200=400mm(6)1.();2.;3.;4.;5.();6.6v=400mm/min=6.7mm/s(7)H=d2=1.59mm=13.5mm(8),=1.5,,,[2]P97512,[p]=7.5MPa,[2]P96(543)d20.8F[p],Fd22[p]0.64=(910-3)1.57.51060.64=1423.8N(9)F,.(3),7.1.;2.;3.;4.(1);5.(1);6.(1);7.();8.(2);9.(2);10.(2);11.;12.()7:(1)(1),(2)(1),81332,,(2)(),()(2).(1)(1),(1),(2)(2)(1),(),(),.n=100r/min,,,700N,[2]P96(543)d20.8F[p]=0.87001.57.5106m=6.3mm(10)10mm,400mm.:8,,(2),(),,,(2)(2),(2)(2),(2),(2)().9.10,(),F.10FD=G,G=700N,lCD=200mm,lBC=100mm.MC=0FDlCD-FABsin30lBC=0(11)FAB=FDlCDsin30lBC=70020010-30.510010-3N=2800N(12)F=FABcos30=28003/2N=2425N(13),=1.5,,,[2]P97512,[p]=7.5MPa,[2]P96(543)d20.8F[p]=0.824251.57.5106m=11.7mm(14)d2=15mm.3.3,,()(),,.(1),11.1.;2.;3.;4.;5.;6.(1);7.(2);8.()11Y:(1),(2),,,,,,.(2)()(),12.,,,82()20114.,,12.(),,,,,,,,,13.12()13(),F,14.14lAB=50mm,lBC=200mm,F=2FA,FC,FC=G/2,70kg,G=700N,MB=0FAlAB-FClBC=0(15)FA=FClBClAB=GlBC2lAB=70020010-325010-3N=1400N(16)F=2FA=2800N,[2]P96(543)d20.8F[p]=0.828001.57.5106m=12.6mm(17)d=15mm.45,d=20mm,B,B,B.B:MB=FAlAB=14005010-3Nm=70Nm(18)B=MBWB=MBd332=70Nm32(2010-3m)3=89.1MPa[]=100MPa(19).(3)()(),..,,,.,,,,,.15(),,,,,,(),(),,,(),(),,.1.;2.;3.;4.;5.();6.;7.()15()4,,,.(1),,83332,(),16.16(2),,,(),,,,.,,,,,,,,,,,.5,,,,,,.:[1].[M].7.:,2006.[2],.[M].8.:,2006.[3],,.[J].,2007(6):7879.[4],,,.[J].:,2010,32(3):3336.[5],,,.[J].:,2008,30(6):6972.[耿志国]84()20114