管道机器人清淤装置设计与动力特性研究

Research on Design and Dynamic Characteristics of Pipeline Robot Dredging Device

为疏通城市排污管道,设计一种新型管道清淤机器人,为证明其清淤作业的稳定性和可行性,对清淤装置进行了动力学特性研究。建立该管道机器人三维模型,对其清淤装置进行原理分析;对清淤盘模型进行运动学建模与仿真,并将MATLAB运动仿真曲线与ADAMS运动仿真曲线进行拟合,验证运动方程的正确性;建立清淤盘动力学数学模型,并基于ADAMS软件进行仿真,研究动力学正、逆问题,得到扇形盘的运动曲线和受力曲线。结果表明,运动方式和运动规律满足清淤方式为刮削—搅拌—过滤—推进—四位一体的清淤作业要求,动态性能稳定。

In order to dredge the urban sewage pipeline,a new type of pipeline dredging robot is designed.Additionally,the dynamic characteristics of the dredging device are studied to prove the stability and feasibility of the dredging operation.In this study,the three-dimensional model of the pipeline robot was firstly established to analyze the principle of the dredging device.Secondly,the kinematics modeling and the simulation of the dredging disc model were carried out.Thirdly,the MATLAB motion simulation curve is fitted with the ADAMS motion simulation curve to verify the correctness of the motion equation.Fourthly,the mathematical model of dredging disc dynamics was built,and the simulation was conducted by ADAMS software to study the forward and inverse dynamics problems,based on which,the motion curve and force curve of the fan-shaped disc were obtained.The results show that the motion mode and the movement rule can meet the requirements of scraping-mixing-filtering-propulsion,a four-in-one dredging operation,and the dynamic performance is stable.