地下管道地质雷达检测机器人动力学仿真分析  

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

作　　者：李涛涛 程志涛 徐茂轩 何宇 陈宏华 LI Taotao;CHENG Zhitao;XU Maoxuan;HE Yu;CHEN Honghua(School of Mechanical and Electronic Engineering,Pingxiang University,Pingxiang 337055,Jiangxi,China;State Key Laboratory of Coal Resources and Safe Mining,China University of Mining and Technology-Beijing,Beijing 100083,China)

机构地区：[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

出　　处：《机械科学与技术》2023年第7期1000-1008,共9页Mechanical Science and Technology for Aerospace Engineering

基　　金：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)。

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1700 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。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 1700 N.The analysis results provide scientific basis for optimal design,material selection and machining process of GPR-UPDR,especially key components of detectors.

关 键 词：地质雷达(GPR) 地下管道检测机器人 动力学 仿真分析 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]