电缆爬行器结构设计与分析

发布时间：2018-03-09 16:07

本文选题：巡线机器人　切入点：结构设计　出处：《西南石油大学》2015年硕士论文　论文类型：学位论文

【摘要】：目前电缆检测常用方法效率不高、费用昂贵,随着现代化技术的发展,电缆检测需要钢丝绳爬行器携带仪器检测钢丝绳代替以往由人工巡检或直升机巡检的方式,而目前制约钢丝绳爬行器发展的主要因素是机械结构难以满足跨越障碍物的要求。本文对巡线机器人技术及国内外研究现状进行调研、分析,提出一种新型的爬行器结构设计方案,完成的主要工作有以下几个部分：本文首先对巡线机器人技术及国内外研究现状进行调研,并根据障碍物的特点运用仿生学原理模仿树懒爬行动作提出三种不同的钢丝绳爬行器结构方案,通过对三种不同结构方案的优、缺点进行对比分析,得出一种相对较优的结构。其次利用三维造型软件Solidworks初步建立了该机构的三维模型,通过对爬行器的关键受力部件进行力学分析、计算,参考国家标准选择相应的部件的尺寸、型号,利用Simulation模块对其添加模拟负载进行静力学仿真分析,并且为了提高电池的使用效率,对关键部位进行了尺寸的优化设计。再次利用机械系统动力学仿真分析软件Adams对机构滑台和伸缩板动作进行动态仿真分析。在负载和摩擦力的条件下,得到零部件的位移、速度、加速度、力矩等变化曲线,验证了动作规划与电机选型的合理性。最后分别用VB软件和Keil软件编写爬行器的上位机控制程序、单片机程序,并利用Hot-51开发板进行程序的调试和电机控制模拟,验证了上位机能够通过软件和下位机对爬行器的各个电机进行实时的控制。
[Abstract]:At present, the common methods of cable detection are not efficient and expensive. With the development of modern technology, cable detection needs wire rope crawler to carry instrument to detect wire rope instead of manual inspection or helicopter inspection. At present, the main factor that restricts the development of wire rope crawler is that the mechanical structure is difficult to meet the requirements of crossing obstacles. A new type of crawler structure design scheme is proposed. The main work accomplished is as follows: firstly, this paper investigates the technology of inspection robot and the research status at home and abroad. According to the characteristics of obstacles, three different structural schemes of wire rope crawler are put forward by imitating sloth crawling movement based on the principle of bionics. The advantages and disadvantages of three different structural schemes are compared and analyzed. A relatively better structure is obtained. Secondly, the 3D model of the mechanism is established by using the 3D modeling software Solidworks. Through the mechanical analysis and calculation of the key force components of the crawler, the dimensions of the corresponding components are selected with reference to the national standards. Model, using Simulation module to carry on static simulation analysis to add analog load, and in order to improve the efficiency of battery, The optimization design of the key parts is carried out, and the dynamic simulation analysis of the mechanism slide and the expansion plate is carried out by using the mechanical system dynamics simulation software Adams. Under the condition of load and friction, the displacement of the parts is obtained. The changing curves of speed, acceleration and torque verify the rationality of action planning and motor selection. Finally, the upper computer control program and single chip computer program of crawler are written by VB and Keil software, respectively. The Hot-51 development board is used to debug the program and simulate the motor control. It is verified that the upper computer can control the crawler motor in real time through software and lower computer.
【学位授予单位】：西南石油大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TM75

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