自适应管道打磨机器人的设计与仿真分析  

Design and Simulation Analysis of Adaptive Pipeline Polishing Robot

作　　者：高丽 刘傲 何建国 邹敏敏 王旭东 阮学云[2] GAO Li;LIU Ao;HE Jian-guo;ZOU Min-min;WANG Xu-dong;RUAN Xue-yun(Engineering Department,Yantai Longyuan Power Technology Co.,Ltd.,Yantai 264006,China;School of Mechanical and Electrical Engineering,Anhui University of Science&Technology,Huainan 232001,China)

机构地区：[1]烟台龙源电力技术股份有限公司工程部,山东烟台264006 [2]安徽理工大学机电工程学院,安徽淮南232001

出　　处：《机械工程与自动化》2024年第5期65-68,共4页Mechanical Engineering & Automation

基　　金：国家级大学生创新创业训练计划项目(S202310361058)。

摘　　要：针对透过氧化层的管道焊缝检测不易、人工打磨效率低等问题,设计了一种自适应管道外壁打磨机器人,并研究了其在管道上的静态受力、旋转打磨的性能。首先,在满足管道表皮氧化层打磨质量的前提下,分析了方案的可行性并提出管道机器人的结构方案,分析了其驱动装置及作业装置特点;然后,利用SolidWorks进行三维建模,运用ANSYS Workbench对机器人进行了静力强度分析以及下角磨机支架的模态分析,以避免共振影响造成的疲劳损伤。分析结果表明:机器人的材料强度满足条件,可以无缝衔接地对管道氧化层进行打磨,但机身压力、速度和托辊的接触力存在一定的波动。Aiming at the problems of difficulty in detecting pipeline welds through oxide layers and low manual polishing efficiency,an adaptive pipeline outer wall polishing robot was designed,and its static stress and rotary polishing performance on the pipeline were studied.First,on the premise of meeting the polishing quality of the pipeline skin oxide layer,the feasibility of the plan is analyzed and the structural plan of the pipeline robot is proposed.The characteristics of its driving device and working device are analyzed.Then,SolidWorks was used to conduct three-dimensional modeling,and ANSYS Workbench was used to conduct static strength analysis of the robot and modal analysis of the lower angle grinder bracket to avoid fatigue damage caused by resonance effects.The analysis results show that the material strength of the robot meets the conditions and can seamlessly polish the oxide layer of the pipeline,but there are certain fluctuations in the pressure,speed and contact force of the carrier roller.

关 键 词：管道打磨机器人 自适应性 结构设计 仿真分析 可靠性 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]