牵引式排水管道清淤机器人清淤机构的研究

发布时间：2018-11-22 12:49

【摘要】：近几年,我国不断加大对于管道清淤机器人的研究,虽然已经取得了很多突破性的成果,但是所研发管道清淤机器人大多只能完成检测、穿缆工作,很少能自主完成清淤工作。于是根据目前国内对于管道清淤机器人的发展现状提出了一种牵引式排水管道清淤系统。介绍了牵引式排水管道清淤系统的组成及其工作原理,还计算了不同情况下钢丝绳的拖缆力,为接下来清淤机器人清淤机构的设计提供了重要技术指标,设计了一种多连杆清淤机构,介绍了其组成,并选择了合适关节轴承。确定了行走机构和清淤机构的驱动方式,即行走机构采取了自带动力的驱动方式;而清淤机构的驱动方式采取了外力推动和自带驱动相结合的方式。对清淤机构进行了运动学及仿真分析,通过自由度计算以及几何关系计算找出关键变量为两个电动缸的长度,而后通过MATLAB软件仿真,根据两个电动缸的伸长范围,得到了清淤轨迹的包络曲线图、清淤斗翻转轨迹等重要工作性能尺寸,验证了清淤机构的合理性,为接下来对实体连杆的设计以及强度的校核提供了可靠依据。对清淤机器人清淤机构的运动控制系统进行了设计,实现了清淤机构的远程控制,为我国排水管道清淤机器人的发展开辟了新的道路。
[Abstract]:In recent years, the research of pipeline desilting robot has been increasing in our country. Although it has made many breakthrough achievements, most of the pipeline desilting robots can only complete the detection, cable work, and rarely finish the dredging work independently. According to the development of pipeline desilting robot in China, a tractive drainage pipeline silt cleaning system is put forward. This paper introduces the composition and working principle of the traction drainage pipeline silt cleaning system, and calculates the towing cable force of the wire rope under different conditions, which provides an important technical index for the design of the silt cleaning mechanism of the desilting robot. A multi-link desilting mechanism is designed, its composition is introduced, and a suitable joint bearing is selected. The driving mode of walking mechanism and desilting mechanism is determined, that is, the walking mechanism adopts the driving mode with its own power, while the driving mode of the silt clearing mechanism adopts the combination of external force and self-driving. The kinematics and simulation analysis of the silt cleaning mechanism are carried out. The key variables are found to be the length of two electric cylinders through the calculation of degrees of freedom and geometric relations. Then, the length of the two electric cylinders is simulated by MATLAB software, according to the extension range of the two electric cylinders. The envelope curve of the desilting trajectory and the turnover trajectory of the silt cleaning bucket are obtained. The rationality of the desilting mechanism is verified, which provides a reliable basis for the design of the solid connecting rod and the checking of the strength. The motion control system of silt cleaning mechanism of desilting robot is designed, and the remote control of silt cleaning mechanism is realized, which opens a new way for the development of dredging robot in China.
【学位授予单位】：华北理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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