管道清洁机器人通过性研究

发布时间：2018-01-12 06:31

本文关键词：管道清洁机器人通过性研究　出处：《兰州理工大学》2016年硕士论文　论文类型：学位论文

【摘要】：随着工业管道的大量使用,管道需要检测、维修、清理亟待解决,而管道是一种特殊环境,其特点是空间狭小,存在大量的非结构性管道,长期使用会造成堵塞,需定期清理,传统的人工清理维修显得极不现实,管道机器人在这方面的应用很有必要性。经过数十年的发展,管道机器人技术取得了长足的进步,但是距离实际应用还有一定距离,目前的管道机器人通过性主要局限在直管且智能化程度不高,对弯管,变径管,T型管的通过性就显得力不从心。本文着重对管道机器人在管道内的通过性进行了研究。论文的主要工作如下:(1)在查阅和掌握大量管道机器人相关文献和资料的基础上,并结合管道环境特点及作业需求,通过综合对比分析,设计了新型的管道清洁机器人本体结构,最后基于PRO/E软件对机器人进行了参数化建模。(2)对管道机器人的运动学和动力学问题进行了详细的分析研究,包括机器人的管内运动阻力、姿态偏转、径向调节运动、越障能力等问题。对于变径机构,先建立其运动学、动力学方程,求得各个关节的速度、加速度、反力,基于Matlab/Simulink建立了仿真模型,对其进行了运动学、动力学仿真。(3)对弯管、T型管进行了几何描述,并建立弯管数学模型和T型管的几何模型;推导出机器人通过弯管、T型管所要满足的运动条件,得出机器人在通过弯管、变径管、T型管时,需满足相应的运动条件;根据机器人行走机构与管壁的运动干涉问题,对行走机构进行了改进,并建立行走机构的运动学、动力学方程,对其进行了仿真。(4)基于ADAMS软件对机器人在直管、变径管、弯管的运动和受力进行了仿真分析,并对机器人在直管中弹簧预紧力和牵引力进行了仿真分析,得出机器人运动的位移、速度、加速度、力矩等曲线,仿真结果表明所设计的机器人可以顺利通过这三种类型的管道。
[Abstract]:With the extensive use of industrial pipelines, pipelines need to be detected, repaired and cleaned. Pipeline is a special environment, which is characterized by a small space, there are a large number of non-structural pipelines. Long-term use will cause blockage, need to be cleaned regularly, the traditional manual cleaning and maintenance is very unrealistic, pipeline robot in this area is very necessary. After decades of development. Pipeline robot technology has made considerable progress, but there is still a certain distance from the actual application, the current pipeline robot is mainly confined in the straight pipe and intelligent degree is not high, bend pipe, variable diameter pipe. In this paper, the transmissivity of the pipeline robot in the pipeline is studied. The main work of this paper is as follows: 1). On the basis of consulting and mastering a large number of related documents and materials of pipeline robot. Combined with the characteristics of pipeline environment and operational requirements, a new structure of pipeline cleaning robot is designed through comprehensive comparison and analysis. Finally, the kinematics and dynamics of the pipeline robot are analyzed and studied in detail based on the parameterized modeling of the robot based on PRO/E software, including the kinematic resistance of the robot in the pipe. For the variable diameter mechanism, the kinematics and dynamics equations are established to obtain the velocity, acceleration and reaction force of each joint. The simulation model based on Matlab/Simulink is established, and the kinematics and dynamics simulation are carried out. The mathematical model and the geometry model of T-tube are established. The motion conditions of the robot through the T tube are deduced, and the corresponding motion conditions are obtained when the robot passes through the bend tube and the variable diameter tube. According to the motion interference between the walking mechanism and the pipe wall of the robot, the kinematics and dynamics equations of the walking mechanism have been improved, and the kinematics and dynamics equations of the walking mechanism have been established. Based on ADAMS software, the motion and force of robot in straight pipe, variable diameter tube and bend pipe are simulated and analyzed. The spring pretension force and traction force in the straight tube are simulated and analyzed, and the displacement, velocity, acceleration and torque curves of the robot movement are obtained. The simulation results show that the designed robot can pass through these three types of pipelines smoothly.
【学位授予单位】：兰州理工大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP242

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