论文部分内容阅读
科技进步必然带来多学科间的相互渗透。将机器人技术应用于液压挖掘机,会大大促进液压挖掘机向智能化和自动作业的方向发展。工作装置是液压挖掘机的主要工作部件,其构造也酷似机器人操作手。因此,实现工作装置的自动控制可为挖掘机智能化的第一步。参照机器人的分类方法,机器人式液压挖掘机可分为:手工操作式(目前广泛使用的液压挖掘机均采用手工操纵);固定程序式(按照预先编好的程序顺序执行,设定的信息不易改变);可变程序式(按照预先设定的顺序、条件与位置程序逐个执行动作,设定的信息容易改变);示教再现式(由人事先进行示教、存储其作业顺序、位置、时间信息,根据要
Progress in science and technology will inevitably bring about the interpenetration of multiple disciplines. Applying robot technology to hydraulic excavators will greatly promote the development of hydraulic excavators in the direction of intelligent and automatic operation. The working device is the main working part of the hydraulic excavator, and its construction is similar to the robot manipulator. Therefore, the realization of the automatic control of the working device can be the first step in the intelligentization of the excavator. According to the robot classification method, the robotic hydraulic excavator can be divided into: manual operation (currently widely used hydraulic excavators are all manually operated); fixed program type (executed in accordance with pre-programmed procedures, the set information is not easy Change); variable program (performs actions one by one in accordance with a preset sequence, condition, and position program, the set information is easily changed); teaches the playback type (previously teaches, stores the order, position, Time information, according to