摘要
智能破拆机器人作为破拆行业的主要工具正发挥着不可估量的作用。与传统破拆方式相比,采用机器人破拆具有更安全、更高效、低能耗和低成本等优点。目前国内外对智能破拆机器人的研究已取得了阶段性成果,为了给今后智能破拆机器人的研究提供一个统一的研究框架,对智能破拆机器人现有研究成果进行了系统分析和深入总结。回顾国内外智能破拆机器人的研究与应用现状,详细探讨了破拆机器人在复杂工作环境中完成破拆任务所要满足的设计需求、复杂路面条件下智能破拆机器人的行走越障及转向技术、高效破拆机构的研制、智能破拆机器人液压系统的智能柔顺化控制、远距离通信监控与遥控操作以及特殊工作环境下破拆机器人的特殊保护机制等关键技术问题。最后结合破拆机器人更加智能化的发展需求,给出智能破拆机器人下一阶段研究方向的建议。
Intelligent demolition robot is playing an invaluable role as the primary tool in demolition industry. Compared with the traditional way of demolition, demolition robot is more secure, more efficient and less energy consumption, low cost and so on. At present, international research on the intelligent demolition robot has been made some staged achievements. Reviewed current a- chievements of intelligent demolition robot systematically and intensively established a unified framework for the research of intel ligent demolition robots in the future. Reviewed the international research and application status of intelligent demolition robot, key technologies of intelligent demolition robot were discussed in detail: including the design requirements to meet the requirements of demolition task in complex work environments;walking, surmount obstacle and steering technology of intelligent demolition robot under complex road conditions;development of efficient demolition mechanism;intelligent and flexible control of intelligent demo lition robot hydraulic system;remote communication, condition monitoring and teleoperation under the conditions of long distance;special protection mechanisms under special working conditions . Finally, combined with more intelligent development needs of in telligent demolition robot, development trends and research directions were suggested.
作者
李辉
郑忠才
鲁守银
张营
Li Hui;Zheng Zhongcai;Lu Shouyin;Zhang Ying(School of Mechanical and Electrical Engineering,Shandong Jianzhu University,Jinan 250101,China;Institute of Robot Technology and Intelligent System,Shandong Jianzhu University,Jinan 250101,China;School of Information and Electrical Engineering,Shandong Jianzhu University,Jinan 250101,China)
出处
《现代制造工程》
CSCD
北大核心
2019年第9期150-160,共11页
Modern Manufacturing Engineering
基金
国家高技术研究发展计划(863计划)项目(2012AA041506)
山东省科学技术发展计划资助项目(2014GGX103011)
关键词
破拆机器人
越障
破拆机构
柔顺化控制
状态监控
demolition robot
surmount obstacle
demolition mechanism
flexible control
condition monitoring
