地下管道地质雷达检测机器人动力学仿真分析

李涛涛; 程志涛; 徐茂轩; 何宇; 陈宏华

doi:10.13433/j.cnki.1003-8728.20220073

地下管道地质雷达检测机器人动力学仿真分析

doi: 10.13433/j.cnki.1003-8728.20220073

1.
萍乡学院机械电子工程学院, 江西萍乡 337055
2.
中国矿业大学(北京) 煤炭资源与安全开采国家重点实验室, 北京 100083

基金项目:

国家自然科学基金项目 52174155

江西省自然科学基金项目 20212BAB214047

煤炭资源与安全开采国家重点实验室开放课题 SKLCRSM20KFA08

江西省教育厅科学技术研究项目 202710

详细信息

作者简介:
李涛涛(1988-), 副教授, 博士, 研究方向为地质雷达装备及技术, litaotao@pxu.edu.cn

中图分类号: TP24
计量
- 文章访问数: 212
- HTML全文浏览量: 76
- PDF下载量: 56
- 被引次数: 0
出版历程
- 收稿日期: 2021-08-05
- 刊出日期: 2023-07-25

Dynamic Simulation Analysis of Ground Penetrating Radar Robot for Underground Pipeline Detection

1.
School of Mechanical and Electronic Engineering, Pingxiang University, Pingxiang 337055, Jiangxi, China
2.
State Key Laboratory of Coal Resources and Safe Mining, China University of Mining and Technology-Beijing, Beijing 100083, China

摘要

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。
- 地质雷达(GPR) /
- 地下管道检测机器人 /
- 动力学 /
- 仿真分析
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.
- ground penetrating radar /
- underground pipeline detection robot /
- dynamics /
- simulation analysis

HTML全文

图 1 地下管道地质雷达检测机器人

Figure 1. The geological radar detection robot for underground pipelines

下载: 全尺寸图片幻灯片

图 2 适应调节机构设计图和简图

Figure 2. Design and schematic of the adaptive adjustment mechanism

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图 3 机器人虚拟样机导入结果

Figure 3. Import results from the virtual prototype of the robot

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图 4 机器人受力情况分析

Figure 4. Analysis of force applied to the robot

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图 5 滚轮动力学仿真结果

Figure 5. Dynamic simulation results for the wheels

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图 6 扭簧动力学仿真结果

Figure 6. Dynamic simulation results for the springs

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图 7 摇杆转轴动力学仿真结果

Figure 7. Dynamic simulation results for the rocker bar shaft

下载: 全尺寸图片幻灯片

图 8 防护罩动力学仿真结果

Figure 8. Dynamic simulation results for the protective cover

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图 9 机器人模型探测试验

Figure 9. Experimental testing of the robot model

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图 10 传感器关键部件受力实测结果

Figure 10. Actual measurements of the force applied to key sensor components

下载: 全尺寸图片幻灯片

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
扭簧	右下测、靠后	扭簧2
天线防护罩	顶部	防护罩1
天线防护罩	右下测	防护罩2
摇杆转轴	顶部、靠前	转轴1
摇杆转轴	右下测、靠后	转轴2

下载: 导出CSV

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