液压启闭机活塞杆检测机器人结构设计与动力学分析

Structure Design and Dynamics Analysis of Piston Rod Detection Robot for Hydraulic Hoist

为实现自动检测水电站液压启闭机活塞杆上的锈蚀缺陷,快速检测出锈蚀缺陷位置并进行后续处置,防止出现液压启闭机漏油、控制阀门堵塞等不良后果,本文研制了一种水电站液压启闭机活塞杆检测机器人。文章首先提出检测机器人的结构设计方案,接着确定了其控制方案,然后利用仿真软件对检测机器人进行了动力学分析,分析机器人的速度、加速度以及在不同挤压力下机器人本体偏转角度等参数,最后进行液压启闭机活塞杆检测机器人样机爬行试验研究,验证机器人的可靠性和合理性是否满足设计目标。

In order to realize automatic detection of the corrosion on the piston rod of the hydraulic hoist of hydropower station,conveniently and accurately find the existing position of the corrosion,and prevent the hydraulic hoist from oil leakage,control valve blockage and other adverse consequences,this paper develops a fast and convenient detection robot for hydraulic hoist piston rod of hydropower station.Firstly,the structure design scheme of the detection robot is proposed,and then its control scheme is determined.Then,the dynamic analysis of the detection robot is carried out by using the simulation software,analyzing the robot's speed,acceleration and the deflection angle of the robot body under different extrusion forces and other parameters.Finally,the prototype test of piston rod inspection robot of hydraulic hoist is carried out to verify whether the reliability and rationality of the robot meet the design objectives.