| With the development of the construction of urban underground pipe gallery in China,a number of domestic technology companies and research instituations begin to research and develop mobile robots for inspection of urban underground pipe gallery based on the needs of automatic and intelligent inspection.In this paper,a new inspection robot system is proposed to replace the manual inspection in the underground pipe gallery,which is used to detect the environmental information in the pipe gallery in a timely and efficient manner,and can effectively avoid the defects caused by the manual inspection,reduce the maintenance cost,the casualties and property losses caused by accidents.The main research work of this paper is as follows:(1)Based on the investigation and analysis of the research status of domestic and foreign inspection robots,as well as the internal environment of the cable gallery,a hanging inspection robot mechanical system for cable gallery is designed,which is composed of three subsystems: track system,robot body system and fire door crossing system.The cross-sectional shape and design dimensions of the track beam are clarified,and the walking module,main body module and lifting module of the inspection robot are discussed and designed in detail.Aiming at the problem of the robot passing through the curved track and crossing the fire door,the flexible guide bogie mechanism and the telescopic track separation mechanism are discussed and designed respectively.(2)Based on the robot multi-body system dynamics modeling theory,the on-orbit topological configuration and dynamic model of the inspection robot under three typical working conditions of horizontal straight rail,curved rail and inclined rail are established.On this basis,the tire force equations of the driving wheel and guide wheel,and the suspension force equations of the suspension device are studied.The dynamic equations of the robot on the straight rail,curved rail and inclined rail are derived respectively,which provide reference for the calculation of the dynamic parameters of the walking module.In addition,the simulation model is built in the dynamic analysis software ADAMS,and the curve passing ability of the guided bogie in the walking module is studied.(3)After determining the structural design parameters of the C-type track beam,the load on the track beam including the type,size and direction is studied in depth according to the actual movement of the robot.On this basis,the maximum stress-strain of the rail beam section is taken as the objective function.Based on the ANSYS finite element method and simulated annealing algorithm,the installation parameters of the track beam are optimized respectively.The optimization model is established and solved,and finally the optimal installation parameters of the track beam are obtained.(4)Based on the above research,the function prototype of the first generation inspection robot for cable gallery is developed,and the position of the dangerous section of the rail beam during the robot’s on orbit operation is determined.By using the resistance strain measurement method,the strain changes of the dangerous section of the rail beam of the inspection robot under the partial loading of the straight rail and the curved rail are studied.The results show that the designed track system can meet the strength performance requirements of the actual working conditions,and the experiment has guiding significance for the structural optimization design of the guide device of the walking module. |
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