發(fā)布時(shí)間：2018-03-06 10:49

  本文選題：巡檢機(jī)器人　切入點(diǎn)：輪式驅(qū)動　出處：《沈陽航空航天大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：電力系統(tǒng)的穩(wěn)定安全運(yùn)行對經(jīng)濟(jì)生活至關(guān)重要,伴隨著高壓電纜入地的隧道工程建設(shè),高壓電纜隧道的巡檢維護(hù)成為又一項(xiàng)危險(xiǎn)工作。本文研究內(nèi)容是基于與沈陽電力局合作開展的高壓電纜隧道巡檢項(xiàng)目展開的。針對沈陽市內(nèi)地下電纜隧道的結(jié)構(gòu)化環(huán)境特征,進(jìn)行了巡檢系統(tǒng)方案設(shè)計(jì),并結(jié)合差速驅(qū)動模式、四輪驅(qū)動模式、和履帶式移動機(jī)構(gòu)的運(yùn)動優(yōu)點(diǎn),研制了一種能夠適應(yīng)于電纜隧道結(jié)構(gòu)化環(huán)境的巡檢機(jī)器人SCIR(Shen Yang Cable Tunnel Inspction Robot)。首先,對所需要巡檢的環(huán)境進(jìn)行了充分研究,并針對其主要存在的幾種地形設(shè)計(jì)了巡檢系統(tǒng)方案;根據(jù)巡檢方案設(shè)計(jì)了隧道巡檢機(jī)器人(SCIR)的機(jī)械結(jié)構(gòu),創(chuàng)新性的設(shè)計(jì)了手臂展開收攏與差速四輪驅(qū)動模式切換相結(jié)合的聯(lián)動機(jī)構(gòu);根據(jù)隧道內(nèi)的側(cè)向臺階環(huán)境,設(shè)計(jì)了特殊的輪子結(jié)構(gòu)實(shí)現(xiàn)側(cè)向臺階跨越。對機(jī)構(gòu)運(yùn)動參數(shù)、運(yùn)動性能進(jìn)行了研究,優(yōu)化了各部分的尺寸結(jié)構(gòu);根據(jù)聯(lián)動節(jié)能理念對傳動系統(tǒng)、聯(lián)動方案及機(jī)器人空間布局進(jìn)行了優(yōu)化分析;從能源消耗角度對機(jī)器人所采用的移動方案及傳動方案進(jìn)行了可行性驗(yàn)證;針對隧道內(nèi)的幾種極限環(huán)境分析了機(jī)器人越障性能,并根據(jù)越障高度優(yōu)化了輪徑及重心位置,設(shè)計(jì)了適合隧道環(huán)境的巡檢機(jī)構(gòu)。其次,根據(jù)隧道環(huán)境和機(jī)構(gòu)運(yùn)動特點(diǎn)合理設(shè)計(jì)了控制系統(tǒng),該控制系統(tǒng)包括硬件控制系統(tǒng)與軟件控制系統(tǒng)�；贜Isbrio9636設(shè)計(jì)了由上層操作部分、下層處理單元和傳感裝置組成的硬件系統(tǒng);基于Labview設(shè)計(jì)了軟件控制系統(tǒng);功能上:該巡檢機(jī)器人采用了可視化界面,簡便易操作的手柄遙控方法,實(shí)現(xiàn)了半自主控制;搭載高清攝像裝置以及七種氣體采集裝置,能夠再現(xiàn)隧道內(nèi)圖像與氣體成分,基于5.8GHz的網(wǎng)橋通訊保證了通訊的穩(wěn)定可靠,能夠完成要求的巡檢任務(wù)。最后,制作了機(jī)器人樣機(jī),并在隧道環(huán)境下進(jìn)行實(shí)驗(yàn),驗(yàn)證了系統(tǒng)的通訊能力,控制系統(tǒng)的可靠性,操作界面清晰度及巡檢機(jī)器人的越障、爬坡、地形適應(yīng)等功能,實(shí)驗(yàn)表明:所研制的隧道巡檢機(jī)器人(SCIR)具備隧道巡檢的基本功能,能夠完成電纜隧道巡檢任務(wù),為后續(xù)深入研究奠定基礎(chǔ)。
[Abstract]:The stable and safe operation of power system is very important to the economic life. The inspection and maintenance of HV cable tunnel has become another dangerous task. The research content of this paper is based on the inspection project of HV cable tunnel carried out in cooperation with Shenyang Electric Power Bureau, aiming at the structural environmental characteristics of underground cable tunnel in Shenyang. The scheme design of the inspection system is carried out, and a SCIR(Shen Yang Cable Tunnel Inspction robot, which can adapt to the structured environment of the cable tunnel, is developed by combining the differential drive mode, the four-wheel drive mode and the movement advantage of the tracked mobile mechanism. In this paper, the necessary environment for inspection is fully studied, and the scheme of patrol inspection system is designed for several kinds of terrain, and the mechanical structure of tunnel inspection robot is designed according to the scheme of inspection and inspection. An innovative linkage mechanism is designed which combines arm unwinding and differential four-wheel drive mode switching. According to the lateral step environment in the tunnel, a special wheel structure is designed to achieve lateral step leapfrogging. The kinematic performance is studied, the dimension structure of each part is optimized, and the transmission system, linkage scheme and space layout of robot are optimized and analyzed according to the idea of linkage energy saving. From the point of view of energy consumption, this paper verifies the feasibility of the mobile scheme and transmission scheme adopted by the robot, analyzes the performance of the robot in several limiting environments in the tunnel, and optimizes the wheel diameter and center of gravity according to the height of the obstacle. Secondly, according to the characteristics of tunnel environment and mechanism motion, the control system is designed reasonably. The control system includes hardware control system and software control system. The upper layer operation part is designed based on NIsbrio9636. The hardware system composed of the lower processing unit and the sensing device, the software control system based on Labview is designed. The function of the inspection robot is that the remote control method of the handle is simple and easy to operate, and the visual interface is used to realize the semi-autonomous control. With high-definition camera and seven kinds of gas acquisition devices, the image and gas components in the tunnel can be reproduced. The network bridge communication based on 5.8GHz ensures the stability and reliability of the communication, and can complete the required inspection task. Finally, the robot prototype is made. The experiment in tunnel environment verifies the communication ability of the system, the reliability of the control system, the clarity of the operation interface and the functions of inspecting the robot's obstacle, climbing, terrain adaptation, etc. The experimental results show that the developed tunnel inspection robot has the basic function of tunnel inspection and can complete the task of cable tunnel inspection, which lays a foundation for further research.
【學(xué)位授予單位】：沈陽航空航天大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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本文編號：1574526