密集管道群自动化清洗机器人设计及仿真分析

Design and Simulation Analysis of Automatic Cleaning Robot for Dense Pipeline Groups

换热器作为工业领域的重要设备,其内部密集管道群的内壁污垢清洗是一个难点。为提升密集管道群清洗的效率,设计了用高压水枪快速自动化清洗机器人。首先,针对换热器的结构特点,设计管端定位装置,用于高压水枪喷头在管道群端口的定位。其次,设计位置反馈装置以提高机器人末端位置控制精度,并研究其标定算法。最后,对管道清洗机器人运动学进行建模,通过仿真验证模型的正确性,并结合Adams软件对机器人进行自动清洗过程的模拟。所设计的管道清洗机器人能够将高压水枪精准定位,完成清洗任务,为密集管道群的自动化清洗方案提供重要参考。

Heat exchanger is an important equipment in the industrial field.It is difficult to clean the inner wall dirt of the dense pipeline group.In order to improve the efficiency in cleaning dense pipeline groups,a fast automatic cleaning robot with high pressure water gun is designed.Firstly,according to the structural characteristics of the heat exchanger,the pipe end positioning robot is designed for the positioning of the high-pressure water gun nozzle in the pipe group port.Secondly,a position feedback device is designed to improve the precision of robot end position control,and its calibration algorithm is studied.Finally,the kinematics of the pipeline cleaning robot is modelled,the correctness of the model is verified by simulation,and the automatic cleaning process of the robot is simulated by Adams software.The designed pipeline cleaning robot can accurately locate the high-pressure water gun and complete the cleaning task,providing an important reference for the automatic cleaning scheme of dense pipeline groups.