本文關(guān)鍵詞：管道清潔機(jī)器人通過性研究　出處：《蘭州理工大學(xué)》2016年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 管道機(jī)器人 管道通過性 彎管 T型管 ADAMS仿真

【摘要】：隨著工業(yè)管道的大量使用,管道需要檢測(cè)、維修、清理亟待解決,而管道是一種特殊環(huán)境,其特點(diǎn)是空間狹小,存在大量的非結(jié)構(gòu)性管道,長(zhǎng)期使用會(huì)造成堵塞,需定期清理,傳統(tǒng)的人工清理維修顯得極不現(xiàn)實(shí),管道機(jī)器人在這方面的應(yīng)用很有必要性。經(jīng)過數(shù)十年的發(fā)展,管道機(jī)器人技術(shù)取得了長(zhǎng)足的進(jìn)步,但是距離實(shí)際應(yīng)用還有一定距離,目前的管道機(jī)器人通過性主要局限在直管且智能化程度不高,對(duì)彎管,變徑管,T型管的通過性就顯得力不從心。本文著重對(duì)管道機(jī)器人在管道內(nèi)的通過性進(jìn)行了研究。論文的主要工作如下:(1)在查閱和掌握大量管道機(jī)器人相關(guān)文獻(xiàn)和資料的基礎(chǔ)上,并結(jié)合管道環(huán)境特點(diǎn)及作業(yè)需求,通過綜合對(duì)比分析,設(shè)計(jì)了新型的管道清潔機(jī)器人本體結(jié)構(gòu),最后基于PRO/E軟件對(duì)機(jī)器人進(jìn)行了參數(shù)化建模。(2)對(duì)管道機(jī)器人的運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)問題進(jìn)行了詳細(xì)的分析研究,包括機(jī)器人的管內(nèi)運(yùn)動(dòng)阻力、姿態(tài)偏轉(zhuǎn)、徑向調(diào)節(jié)運(yùn)動(dòng)、越障能力等問題。對(duì)于變徑機(jī)構(gòu),先建立其運(yùn)動(dòng)學(xué)、動(dòng)力學(xué)方程,求得各個(gè)關(guān)節(jié)的速度、加速度、反力,基于Matlab/Simulink建立了仿真模型,對(duì)其進(jìn)行了運(yùn)動(dòng)學(xué)、動(dòng)力學(xué)仿真。(3)對(duì)彎管、T型管進(jìn)行了幾何描述,并建立彎管數(shù)學(xué)模型和T型管的幾何模型;推導(dǎo)出機(jī)器人通過彎管、T型管所要滿足的運(yùn)動(dòng)條件,得出機(jī)器人在通過彎管、變徑管、T型管時(shí),需滿足相應(yīng)的運(yùn)動(dòng)條件;根據(jù)機(jī)器人行走機(jī)構(gòu)與管壁的運(yùn)動(dòng)干涉問題,對(duì)行走機(jī)構(gòu)進(jìn)行了改進(jìn),并建立行走機(jī)構(gòu)的運(yùn)動(dòng)學(xué)、動(dòng)力學(xué)方程,對(duì)其進(jìn)行了仿真。(4)基于ADAMS軟件對(duì)機(jī)器人在直管、變徑管、彎管的運(yùn)動(dòng)和受力進(jìn)行了仿真分析,并對(duì)機(jī)器人在直管中彈簧預(yù)緊力和牽引力進(jìn)行了仿真分析,得出機(jī)器人運(yùn)動(dòng)的位移、速度、加速度、力矩等曲線,仿真結(jié)果表明所設(shè)計(jì)的機(jī)器人可以順利通過這三種類型的管道。
[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.
【學(xué)位授予單位】：蘭州理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：TP242

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