城市排水管道检测机器人研究与开发

发布时间：2018-08-04 08:47

【摘要】：随着城市的建设,城市排水管道铺设范围逐年增大,城市中排放的废水和废物越来越多,其中这些物质还具有腐蚀性,会造成城市排水管道的堵塞和泄露。因此需要对排水管道进行及时检测,人工对排水管道的检测方式非常复杂,同时使检测人员具有安全隐患,所以需要一种机器检测方式来取代人工检测方式。在国际社会中机器人的应用越来越泛,涉及到方方面面,所以对城市排水管道检测机器人的研究成为一个热门的方向。本文主要是对城市排水管道检测机器人的研究与开发,首先根据机器人作业要求设计一款管道机器人,应用于城市排水管道检测。根理论原理,确定好机器人的结构和尺寸参数,使用建模软件进行三维建模,管道检测机器人配有两个电机作为动力源,采用锥齿轮和链轮传动机构,使用四轮行走方式。其次,对管道检测机器人在管道结构约束下运动范围研究和分析,管道检测机器人在竖直管道和弯曲管道内的约束分析,管道检测机器人在管道内转弯的约束分析,管道检测机器人临界倾覆角度研究,以及对管道检测机器人进行运动学分析和动力学分析。再次,进行管道检测机器人的控制系统研究,控制系统分为上位机、下位机和RS-485通信,对管道检测机器人传感器、电机驱动模块和电机PID控制方式研究,使管道检测机器人在控制系统作用下能够在管道内自主行走移动。最后,使用仿真分析软件对管道检测机器人重要零件进行静力学分析和固有模态分析,主要是对轮轴和车轮的仿真分析。通过仿真分析结果,验证管道机器人设计的合理性,以及为日后结构优化设计做基础。
[Abstract]:With the construction of the city, the scope of the urban drainage pipeline is increasing year by year, and more waste water and waste are discharged into the city, and these substances are corrosive, which will cause the blockage and leakage of the urban drainage pipe. Therefore, it is necessary to detect the drainage pipeline in time, and the detection method of the drainage pipe is very complicated, and at the same time, the detection personnel have the hidden danger of safety, so a machine detection method is needed to replace the manual detection method. In the international community, the application of robots is becoming more and more widespread, involving all aspects, so the research of urban drainage pipeline detection robot has become a hot direction. This paper mainly focuses on the research and development of the urban drainage pipeline detection robot. Firstly, a pipeline robot is designed according to the requirements of the robot operation, which is applied to the urban drainage pipeline detection. Based on the theory of root theory, the structure and dimension parameters of the robot are determined, and the 3D modeling is carried out with modeling software. The pipeline inspection robot is equipped with two motors as power source, bevel gear and sprocket drive mechanism and four-wheel walking mode. Secondly, the research and analysis of the moving range of pipeline detection robot under the constraint of pipeline structure, the constraint analysis of pipeline detection robot in vertical pipe and curved pipe, the constraint analysis of pipeline detection robot turning in pipeline, The critical overturning angle of pipeline detection robot is studied, and the kinematics and dynamics of pipeline detection robot are analyzed. Thirdly, the control system of pipeline detection robot is studied. The control system is divided into upper computer, lower computer and RS-485 communication. The sensor of pipeline detection robot, motor driving module and motor PID control mode are studied. The pipeline detection robot can walk independently in the pipeline under the action of the control system. Finally, the static analysis and the inherent modal analysis of the important parts of the pipeline inspection robot are carried out by using the simulation analysis software, mainly the simulation analysis of the wheel shaft and the wheel. The simulation results verify the rationality of pipeline robot design and provide a basis for future structural optimization design.
【学位授予单位】：沈阳工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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