Mechanism Design And Dynamic Research On Small Yankong-inspection Robot

With the development of human society and the progress of science and technology,foundation engineering construction and natural resources exploitation in China are developing at an unprecedented rate, appearing a large number of deep roadways and the tunnels. Because the development of deep roadways and the tunnels is not mature enough, a large number of rockburst accidents have appeared, it is necessary to design and develop a dynamic disaster physical simulation experimental system. The small yankong-inspection robot of this subject,which could finish the inspection task by giving feedback of the fracture plane and micro-fracture evolution information about yankong, is a major part of monitoring and test system of dynamic disaster physical simulation experimental system.Firstly, the current domestic and foreign development situation of pipeline inspection robot technology and pipeline inspection technology was reviewed. Considering the relative research achievements and the technology used from domestic and overseas, overall design scheme was raised on account of the topic, including robot system scheme selection, system constitution and function and the body structure designing scheme. Preloaded adjusting mechanism was researched in detail by kinetics equations and the motor was selected by calculation.Secondly, preloaded adjusting mechanism was researched, including physical design, the analysis of the dead-point, the kinematics modeling, the analysis of the support and the range of pipe-diameter. The modal analysis with prestress of the motor coupling was solved by ANSYS. The dynamic simulation of spring preloaded adjusting mechanism was solved by ADAMS, including the simulation of range of pipe-diameter, spring deformation and wheel-legged joint. The results showed that the design of the motor coupling and the preloaded adjusting mechanism was correct.Thirdly, the dynamics of the overall robot at work was researched, including the calculation of cables traction, the analysis of traction, attitude angle, climbing and obstacle-surmounting. The moving stability of the small yankong-inspection robot was researched based on the limited mechanics theory. The results showed that the drive motor could offer the power to move the robot and keep it stable moving.Finally, the control system of the small yankong-inspection robot was designed,including upper computer system and lower computer system. The performance test experiment of the prototype was conducted., including the experiment of sealing performance,the test of moving speed, traction ability and so on. The experiment researches were done to demonstrate the analysis of the theory above and to make further design and optimization of the small yankong-inspection robot.