【摘要】：隨著城市的建設(shè),城市排水管道鋪設(shè)范圍逐年增大,城市中排放的廢水和廢物越來越多,其中這些物質(zhì)還具有腐蝕性,會造成城市排水管道的堵塞和泄露。因此需要對排水管道進(jìn)行及時(shí)檢測,人工對排水管道的檢測方式非常復(fù)雜,同時(shí)使檢測人員具有安全隱患,所以需要一種機(jī)器檢測方式來取代人工檢測方式。在國際社會中機(jī)器人的應(yīng)用越來越泛,涉及到方方面面,所以對城市排水管道檢測機(jī)器人的研究成為一個熱門的方向。本文主要是對城市排水管道檢測機(jī)器人的研究與開發(fā),首先根據(jù)機(jī)器人作業(yè)要求設(shè)計(jì)一款管道機(jī)器人,應(yīng)用于城市排水管道檢測。根理論原理,確定好機(jī)器人的結(jié)構(gòu)和尺寸參數(shù),使用建模軟件進(jìn)行三維建模,管道檢測機(jī)器人配有兩個電機(jī)作為動力源,采用錐齒輪和鏈輪傳動機(jī)構(gòu),使用四輪行走方式。其次,對管道檢測機(jī)器人在管道結(jié)構(gòu)約束下運(yùn)動范圍研究和分析,管道檢測機(jī)器人在豎直管道和彎曲管道內(nèi)的約束分析,管道檢測機(jī)器人在管道內(nèi)轉(zhuǎn)彎的約束分析,管道檢測機(jī)器人臨界傾覆角度研究,以及對管道檢測機(jī)器人進(jìn)行運(yùn)動學(xué)分析和動力學(xué)分析。再次,進(jìn)行管道檢測機(jī)器人的控制系統(tǒng)研究,控制系統(tǒng)分為上位機(jī)、下位機(jī)和RS-485通信,對管道檢測機(jī)器人傳感器、電機(jī)驅(qū)動模塊和電機(jī)PID控制方式研究,使管道檢測機(jī)器人在控制系統(tǒng)作用下能夠在管道內(nèi)自主行走移動。最后,使用仿真分析軟件對管道檢測機(jī)器人重要零件進(jìn)行靜力學(xué)分析和固有模態(tài)分析,主要是對輪軸和車輪的仿真分析。通過仿真分析結(jié)果,驗(yàn)證管道機(jī)器人設(shè)計(jì)的合理性,以及為日后結(jié)構(gòu)優(yōu)化設(shè)計(jì)做基礎(chǔ)。
[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.
【學(xué)位授予單位】：沈陽工業(yè)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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