水下沟槽式管道连接件安装作业机器人设计  

Design of Underwater Trench Type Pipe Connector Installation Robot

作　　者：孙朝阳[1] 盛文利[2] 齐辉[1] 李希治 

机构地区：[1]山东科技大学机械电子工程学院,山东青岛266590 [2]安利(中国)日用品有限公司广州经济技术开发区工厂,广东广州510730

出　　处：《机械设计与制造》2015年第5期127-129,133,共4页Machinery Design & Manufacture

基　　金：2014年国家级大学生创新创业训练计划项目(201410424092);青岛威龙卡特管道系统有限公司水下施工(机器人)工具项目(VXM2014008;VXM2014007);2015年度山东省青少年教育科学规划课题大学生学术课题(15BSH089)

摘　　要：为实现沟槽式管道连接件的水下自动化安装作业,提高连接件安装作业效率,研制一种由控制柜和水下作业机器人主体两部分组成的用于沟槽式管道连接件水下安装、修复作业的机器人。指出本机器人的设计难点,重点介绍了机器人的设计方案。针对机器人要实现的具体功能和作业环境,设计关键机构和控制方式,编写了机器人控制的人机交互界面,最后制作了实物样机,样机陆地试验结果表明:水下沟槽式管道连接件安装作业机器人有较好的性能,机器人总体设计方案可行。最后提出了机器人水下集群作业的设想。In order to implement the automatic operation of underwater trench type pipe connector installation process and improve operational efficiency. Design a kind of robot which contains the control cabinet and the main body had be used to install and repair the pipe connector. The difficulties were found according to system requirements and working condition. The design scheme of underwater trench type pipe connector installation robot was proposed emphatically. The key mechanism and control scheme were proposed. The man-computer interface was also compiled. At last a model was built and the testing results agreed very well with the simulation results. Some ideas for an underwater vehicle in group work were proposed in the end.

关 键 词：深水作业 沟槽式连接件 水下机器人 安装修复 

分 类 号：TH16[机械工程—机械制造及自动化]