2 Overcome the defects in the previous pneumatic control. The six-ton ​​damper wing profile front and rear track 12.95 1. Front wheel 2. Side wheel 3. The presence of inertial force when the rear wheel is moving forward. The strength and rigidity of the hull structure are required to be high. Therefore, all the members are 30, and the high strength steel bow is made by 3 people. The strength of the hull structure can be satisfied by using the finite element analysis method. Requirement 2 is the front landing wheel installation Jiange, 3 is the rear landing wheel retracting principle explanation 4. The wheel 5. The rocker arm and the connecting rod 7. The pillar meaning feedback disk 9. The human pulley 1. The manipulation handle receives the liquid called the rainbow Wheel retracted state 2 real ship hydraulic system 21 key hydraulic parts 1.2 landing device six tons of ground effect wing ship landing wheel is arranged on the main pontoon keel line, bicycle front and rear main wheel supports the majority of the hull weight, both sides of the auxiliary wheel from the horizontal Side balance; if the front wheel is installed under the cockpit floor, the rear wheel frame is installed in the rear cabin, and the ground load is crossed by the aviation rubber wheel. The axle rear axle rear steering system has a hydraulic source 2827 hydraulic pump, which mainly considers the design and manufacture test of the motor power hydraulic system that drives the pump. Sen is a little bit 815, which. Speaking of the 18th generation of 8661, the jump of 0.1 is relatively small, about 900 circles, and the whole system of steering and retracting will not be used at the same time, which can reduce the pump source, reduce the load on the electrical system, and finally improve the use of the system. Steering and retracting pressure flow + increasing the competition in the retracting system to adjust the flow valve to adjust the flow to increase the back pressure of the hydraulic cylinder, control the speed of the rear wheel retracting, so that the retracting speed is basically achieved, and the hull structure is realized. The impact meets the secondary vertical of the rear wheel soothing and retracting. The steering principle of the front wheel of the steering wheel is controlled by the machine of the transfer dispenser. The steering feedback is used to adjust the size of the two distributor pulleys, of which the large pulley is operated. pulley. When the small pulley is the feedback pulley, the front and rear control handles, the human wheel rotates the oil distribution valve, the system pressure 汕 enters the left or right side of the rotary hydraulic cylinder, and the pressure oil pushes the outer cylinder to the left or the direction, thereby moving The rod and the fan-shaped rocker arm mounted on the wheel column correspond to the rotation of the wheel, and at the same time, the feedback disk mounted on the wheel column transmits the turning amount to the feedback pulley through the steel cable, and the driving sleeve rotates at a fixed angle. The oil return port on the return sleeve is again blocked by the oil distribution valve, the hydraulic cylinder stops rotating, and the front wheel stops rotating, thereby ensuring that the front wheel stops at the desired angle with the driver's manipulation. On the final implementation of follow-up conversion, its follow-up feedback ability depends on the presence or absence of leakage inside the dispenser. The author once encountered a leak during commissioning and found that the use efficiency was significantly reduced. Finally, the factory returned for repair, and the felt ring was replaced and replaced. After the rubber ring, no oil leakage was found during the trial run of the Yangtze River, and the performance of the brakes and the loose brakes was much higher than before. The emergency brake only needs to directly operate the joystick on the brake distribution valve 5. After the hydraulic principle 5 is matched, it can meet the requirements of normal use. It is not difficult to find that this hydraulic fluid steering system is much more practical and reliable than the electro-hydraulic servo system. It not only saves the electric control system, but also reduces it. The electrohydraulic servo system has excessive requirements for oil cleanliness, which reduces many uncertain factors in the debugging process and shortens the manufacturing cycle of the product. It has achieved obvious results. 22 Other hydraulic systems require the above steering and retracting. In addition to the hydraulic control, the rear brake system of the boat also adopts the liquid card system driver to control the brake distribution valve 5 by operating the brake cylinder 4 on the rudder pedal. When the two feet are loose, the wheel brake The pressure oil in the disc is discharged, thereby achieving braking and loose braking. However, during the commissioning process, it was found that the brake circuit between the brake cylinder 4 and the brake distribution valve 5 often leaked oil and seriously affected the performance of the system. After the analysis, the brake oil was introduced. 27. Pressure switch 38. Pressure 4. Brake control cylinder 5. Brake distribution valve 6. One-way pottery 9. Leaking pottery 10 steering hydraulic cylinder. Turning distributor 12. Centering mechanism 13. Rear wheel retracting hydraulic cylinder 1417. Side wheel retracting hydraulic cylinder 15. Positioning solenoid valve 16. Adjustable one-way throttle valve Pneumatic window cleaning robot control and environmental inspection Zong Guanghua, North Suffocation 2 Aerospace University Robotics Institute, Beijing College Road, 100083, telephone, 82318019, using the elbow method to drive the segmentation and segmentation fuzzy control respectively to achieve the cylinder's precise determination of the body control strategy and Experiment 1 The window cleaning robot is for the detection of the working environment in a real-time manner in a partially unknown aerial working environment. It is a necessary condition for the safe operation of the window cleaning robot in order to identify different obstacles of the broken glass surface and reconstruct the broken window frame. d+ multi-sensor fusion algorithm. ! Brief introduction 131 The foot wood class is a roof glass cleaning robot for the waiting hall developed by the North 1 West Railway Station. The robot can move in the plane and the inclined glass 乜臼 main body less than 1. Two closely connected, cross-shaped rodless cylinders constitute the main motion of the window robot, allowing the robot to move in both directions, and there are four B-direction cylinders at the top of the cylinder to support and lift the robot body. Each 2-way cylinder is divided into the lower end, fixedly connected, and 2 vacuum suction cups. The robot can be attached to the glass surface and fixed to the glass surface. The brush on the cylinder makes the robot move in the same way, and can complete the scrubbing as the remote movement of the robot. Remote control by the cleaner, or autonomously controlled by the multi-sensor fusion based control system, equipped with three kinds of sensor photoelectric sensor ultrasonic sensors and encoders. Because of the interaction between the robot and the environment, and the working environment of the robot is far away from the cleaner, the robot can detect the unknown environment at any time. And take appropriate action in a timely manner. Compared with the motor, the pneumatic components have significant advantages in terms of power self-weight than the flexibility and safety of the movement. Therefore, the wall-climbing robot widely uses the pneumatic transmission juice 8! Although the structure of the pneumatic robot is simple, it is difficult to achieve accurate positioning of the cylinder position, which is necessary for the robot and the window frame to be scrubbed. In order to improve the control precision and reduce the weight of the robot, the elbow method is used to drive the high-speed switch. The closed-loop control system of the valve was studied, and the cylinder was controlled by segmentation, 10 control algorithm and segmented fuzzy control algorithm. This is different from the literature 1, where the method is used for servo control detection. It is necessary for the self-planning of the mobile robot to realize the action. 1 The contact sensor in the micro-motion opening 9 is obtained in the soil climbing robot or the cleaning robot. In order to adapt to the unstructured working environment, a vacuum chuck 6 with environmental adaptability has been developed. The suction cup is equipped with four different types of sensors, namely, a person and a window cleaning robot. The system passes the Jiangyin Yangtze River trial test to prove the design basis. For the future large-scale effect wing ship, the six tons fully meet the requirements of use, and it is believed that the same effect of the tonnage station in the same position of the effect of the wing liquid smell system is a head. Played a role in throwing bricks and attracting jade wings, and the above-mentioned liquid jade 糸 献 献 献 献 献 献 献 献 献 献 献 献 献 献 献 献 献 献
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