CAJ | 학술논문

为满足作业安全性和操作灵活性要求，设计了油罐清洗机器人全液压控制系统。分析机器人结构特性及功能，确定组成油罐清洗机器人液压控制系统的各组成部分；根据各组成部分的工作原理和过程，设计机器人的液压系统回路，并分析在回路基础上各功能的实现过程；分别进行了PLC控制系统和电液伺服控制系统设计，根据回路各元件的传递函数建立了整个系统的传递函数，为各元件的选型及整个回路的仿真分析奠定了理论基础。
위만족작업안전성화조작령활성요구，설계료유관청세궤기인전액압공제계통。분석궤기인결구특성급공능，학정조성유관청세궤기인액압공제계통적각조성부분；근거각조성부분적공작원리화과정，설계궤기인적액압계통회로，병분석재회로기출상각공능적실현과정；분별진행료PLC공제계통화전액사복공제계통설계，근거회로각원건적전체함수건립료정개계통적전체함수，위각원건적선형급정개회로적방진분석전정료이론기출。
A hydraulic control system of oli tank cleaning robot was designed to afford the operating safety and flexibility. Firstly, all component elements of the hydraulic control system were confirmed after analyzing the structural characteristics and functions of the robots. Secondly,on the basis of working principle and process of every component element,a hydraulic system circuit was designed for the robot and the achieving process of every component element was analyzed. Last,the PLC control system and the electro-hy-draulic servo control system were respectively devised. On the basis of transfer functions of all component elements,the whole transfer function of the system was built. It provides a theoretical foundation for component element selecting and circuit simulation.