Dynamic Simulation Analysis of Ground Penetrating Radar Robot for Underground Pipeline Detection
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摘要: 地下管道地质雷达检测机器人有效解决了地下管道管内外病害综合检测问题,而机器人的动力学分析是实现机械结构优化和性能改善的基础。对600 mm地下排水管道地质雷达检测机器人开展Adams下的动力学仿真和仿真结果的实测试验验证,分析机器人工作在管道内壁有障碍物时,滚轮、扭簧、摇杆转轴和防护罩等关键部件的受力情况。结果表明:底部探测器关键部件的全程受力大小和过障碍物时的受力振幅均高于顶部探测器;底部探测器滚轮受力差异较大,偏上滚轮在未遇障碍物时不起作用,承载力集中在下侧滚轮;机器人受500 N水平牵引力作用,遇障物瞬间关键部件的受力呈3~60倍激增,防护罩承载达1 700 N冲击力。分析结果为地下管道地质雷达检测机器人优化设计,尤其是不同位置探测器的关键部件设计、选材和加工提供了依据。Abstract: Underground pipeline detection robot (UPDR) equipped with ground penetrating radar (GPR) can effectively realize the comprehensive detection of underground pipeline′s internal and external diseases. In order to improve its performance and mechanical structure, dynamic analysis should be firstly operated. In this paper, dynamic simulation analysis of GPR-UPDR for 600 mm pipeline based on Adams and experimental verification of simulation results are carried out. In detail, the stress of robot′s key components, such as rolling wheels, torsional springs, axles of rocker and antenna shells are analyzed, when it works in the underground pipeline with obstacles on inner wall. The results show that the stress in the whole process and its variation amplitude at the stage of passing through obstacles of bottom detectors′ key components are greater than those of top detector. The stress of bottom detectors′ rolling wheels has great differences. Specifically, the upper rolling wheels of bottom detectors don′t work when they don′t contact with obstacles, and the whole force is concentrated on lower rolling wheels. In addition, when robot collides with raised obstacles, the stress of the mentioned key components increase immediately by 3~60 times with simulated traction of 500 N, and the antenna shell bears a great impact force of 1 700 N. The analysis results provide scientific basis for optimal design, material selection and machining process of GPR-UPDR, especially key components of detectors.
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表 1 探测器关键部件编号对照表
Table 1. Correspondence table for key components of the detector
关键部件 位置 编号 滚轮 顶部、靠前、左侧 滚轮1 顶部、靠前、右侧 滚轮2 顶部、靠后、右侧 滚轮3 顶部、后方、左侧 滚轮4 右下测、靠前、偏上 滚轮5 右下测、靠前、偏下 滚轮6 右下测、靠后、偏上 滚轮7 右下测、靠后、偏下 滚轮8 扭簧 顶部、靠前 扭簧1 右下测、靠后 扭簧2 天线防护罩 顶部 防护罩1 右下测 防护罩2 摇杆转轴 顶部、靠前 转轴1 右下测、靠后 转轴2 -
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