高酸性气体实验室送取样机器人的设计

发布时间：2018-01-16 23:13

本文关键词：高酸性气体实验室送取样机器人的设计　出处：《西南石油大学》2016年硕士论文　论文类型：学位论文

【摘要】：高酸性气体实验室是基于高酸性气藏而建立的科研试验平台,主要通过高含硫天然气在不同温度与压力条件下对材料进行耐酸性腐蚀测定。在测定过程中,操作人员需要将待腐蚀的材料样片挂在挂片器上并放入实验室内的试验管中,待试验完毕后从试验管中取出挂片器进行后续测定分析。在送取样过程中,可能会存在因传感器失灵、操作流程错误、防护措施不当等原因造成操作人员在样品送取时吸入试验环境周围残留的硫化氢气体,使人体受到损害,甚至导致严重的试验事故。因此,对送取样过程进行自动化升级,辅助操作人员完成高酸性气体实验室中待测样片的送取样过程是目前高酸性实验室建设过程中的新热点。本文基于普光气田投入建设的国内首个高酸性气体实验室的环境特点,结合待测样片送取的具体操作流程,设计了一种辅助操作人员完成待测样片送取的送取样机器人。送取样机器人主要由全向移动平台、四自由度机械臂和机械手组成。通过机载摄像头和无线图传模块将送取样机器人的第一人称主视角传输至控制室,从而使操作人员能够进行远程遥控,完成一些较为复杂的开关试验管阀门和送取样的操作。文中首先研究并确定了送取样机器人的性能指标,设计完成了送取样机器人的总体方案。接着利用三维建模软件对送取样机器人的机械本体,全向移动平台、四自由度机械臂和机械手三个主要部分进行了结构设计；建立了采用麦克纳姆轮方案的移动平台的全向运动数学模型,建立了送取样机器人四自由度机械臂的正、逆运动学模型；根据送取样机器人的控制需求,完成了送取样机器人的控制电路设计,以及对遥控器和无线图传进行选型；完成了全向移动平台直流电机的双闭环调速控制算法和机械臂在关节空间和笛卡尔空间上的轨迹规划算法的设计。最后本文通过对原理机的制作,对送取样机器人的原理性的验证结果表明,论文完成的送取样机器人理论正确、结构合理、操作便利。证明了该送取样机器人具有良好的实用性。
[Abstract]:High acid gas laboratory is a scientific research and test platform based on high acid gas reservoir, mainly through the acid corrosion resistance of materials under different temperature and pressure conditions. The operator needs to hang the sample of the material to be corroded and put it into the test tube in the laboratory. After the test, the material sample will be removed from the test tube for follow-up analysis. There may be some reasons such as sensor failure, wrong operation process, improper protective measures, etc., which may cause the operators to breathe hydrogen sulfide gas around the test environment when the samples are taken, and the human body will be damaged. It even leads to serious test accidents. Therefore, the sampling process is automatically upgraded. It is a new hot point in the construction of high acid gas laboratory that the assistant operator completes the sampling process of the samples to be tested in the high acid gas laboratory. This paper is based on the first domestic high acid gas experiment in Puguang gas field. The environmental characteristics of the room. Combined with the concrete operation flow of the sample to be tested, a sampling robot is designed for the auxiliary operator to complete the sampling of the sample to be tested. The sampling robot is mainly from the omnidirectional mobile platform. Through the airborne camera and wireless graphic transmission module, the first person main visual angle of the sampling robot is transmitted to the control room, so that the operator can remote control. Some complicated operation of the valve and sampling are completed. Firstly, the performance index of the robot is studied and determined. Design and complete the overall scheme of the sampling robot. Then use three-dimensional modeling software to the mechanical body of the sampling robot, omnidirectional mobile platform. Three main parts of the four-degree-of-freedom manipulator and manipulator are designed. The mathematical model of omnidirectional motion of the mobile platform with McNum wheel scheme is established, and the forward and inverse kinematics models of the four-degree-of-freedom robotic arm of the sampling robot are established. According to the control requirements of the sampling robot, the control circuit design of the sampling robot is completed, and the remote control and wireless graphic transmission are selected. The double closed loop speed control algorithm of DC motor of omnidirectional mobile platform and the trajectory planning algorithm of manipulator in joint space and Cartesian space are designed. Finally, the principle machine is made in this paper. The experimental results show that the theory of the robot is correct, the structure is reasonable and the operation is convenient. It is proved that the robot has good practicability.
【学位授予单位】：西南石油大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP242

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