锥螺旋式排水管道疏通机器人设计和实验  

Design and experiment of cone-spiral drainage pipe dredging robot

作　　者：袁夫彩[1,2] 肖娜 赵攀[1,3] 赵亮 周珂珂[1] YUAN Fucai;XIAO Na;ZHAO Pan;ZHAO Liang;ZHOU Keke(School of Electromechanical Engineering,Henan University of Technology,Zhengzhou 450001,China;Faculty of Engineering,Huanghe S&T University,Zhengzhou 450061,China;School of Information Science and Engineering,Henan University of Technology,Zhengzhou 450001,China;School of Electrical Engineering,Henan University of Technology,Zhengzhou 450001,China)

机构地区：[1]河南工业大学机电工程学院,河南郑州450001 [2]黄河科技学院工学部,河南郑州450061 [3]河南工业大学信息科学与工程学院,河南郑州450001 [4]河南工业大学电气工程学院,河南郑州450001

出　　处：《实验技术与管理》2023年第6期162-167,179,共7页Experimental Technology and Management

基　　金：国家自然科学基金项目(61473114);河南省科技攻关项目(212102210169);河南省青年骨干项目(2021GGJS185);河南工业大学科学研究项目(51001495)。

摘　　要：针对大型排水管道清淤困难的问题,该文设计了一种锥螺旋作业的新型排水管道疏通机器人。首先,基于机器人的技术要求和总体方案,设计机器人移动机构、控制系统和锥螺旋式疏通作业装置等关键结构,并探究了其动力学机理;然后,对机器人的密封性、运动速度、越障能力和疏通作业等进行实验验证;最后,运用误差理论对实验数据进行分析和处理,消除粗大误差和系统误差,减少随机误差的影响,提高测量精度。实际应用表明:该机器人各项性能指标达到了设计技术要求,并可以根据工作指令分别以低速、中速和高速的速度进行运动和工作,同时可跨越30 mm的障碍物。该研究可为同类机器人的设计提供指导和参考。In view of the difficulty of dredging large drainage pipes,a new robot for dredging drainage pipes based on conical screw operation is designed.Firstly,based on the technical requirements and overall scheme of the robot,the key structures like the robot mobile mechanism,control system and cone-spiral dredging device are designed,and the dynamics mechanism of the robot is explored.Then,the sealing performance,moving speed,obstacle crossing ability and dredging operation of the robot are verified by experiments.Finally,the error theory is used to analyze and process the experimental data,in order to eliminate the gross error and systematic error,reduce the influence of random error,and improve the measurement accuracy.The practical application shows that the performance index of the robot meets the design technical requirements,and it can move and work at low speed,medium speed and high speed respectively according to the work instructions,and can cross certain obstacles at the same time.This study can provide guidance and reference for the design of similar robots.

关 键 词：机器人 疏通 锥形螺旋 动力学 

分 类 号：TH122[机械工程—机械设计及理论]