Analysis Of Dynamic Characteristics Of Water Intake Culvert Cleaning Robot Arm

At present,automatic cleaning machinery and equipment are widely used in various environmental conditions and play an important role in improving the efficiency of most work.In this paper,based on the shortcomings of low efficiency,long construction period,high cost and poor safety for cleaning the marine organisms attached to the inner wall of the water intake culvert pipe of a nuclear power plant,a working manipulator for cleaning the marine organisms on the inner wall of the water intake culvert pipe of a nuclear power plant is designed.Dynamic analysis and simulation are carried out to verify the rationality of its structure.The main research contents are as follows:First,the technical indicators and overall plan of the cleaning robot arm for the inner wall of the water intake culvert pipeline are determined,and the structural design and plan verification of the cleaning robot arm end actuator are carried out;The connection method between the end effector of the manipulator and the cleaning manipulator is determined;by using the Transient Structural module in ANSYS Workbench to analyze the vibration characteristics of the two different connection methods,the end effector encounters shock in different connection modes.The vibration effect on the rotation center of the manipulator is verified,which verifies the rationality of the material selection and structural design of the manipulator end effector.Then,based on the assumption and simplification of the cleaning manipulator and the end effector,the single-degree-of-freedom vibration model of the manipulator for cleaning the inner wall of the water intake culvert pipeline is established,and the impact encountered by the end effector when cleaning the inner wall of the tunnel is simplified as Alternating loads in three directions,a single-degree-of-freedom vibration model of the cleaning manipulator is obtained.By using the Explicit Dynamics module in ANSYS Workbench to establish a dynamic model under the interaction between the end effector and the attachments on the inner wall of the tunnel,the cleaning process of the end effector of the cleaning manipulator is simulated and analyzed,and the results are obtained when the end effector is cleaning.The dynamic response of the manipulator was analyzed,and the influence of different rotation speeds,the stiffness of the connection spring and the different connection modes of the end effector on the rotation center of the manipulator was analyzed.The results show that,on the premise of satisfying the cleaning efficiency,the connection method with a spring between the end effector and the manipulator or the use of a small revolution speed of the manipulator can greatly reduce the impact on the machine when the end effector encounters an impact.Vibration effects at the center of arm rotation.The virtual assembly of the cleaning manipulator and the digital model of the end effector was completed by using the 3D modeling software UG.Applying the theory of multi-body dynamics,the Rigid Dynamics module in ANSYS Workbench is used to simulate the dynamics of the cleaning manipulator under different conditions,to detect the vibration of the rotation center of the cleaning manipulator,and obtain the no-load,constant torque of the cleaning manipulator.Vibration of the center of rotation of the manipulator under load and variable load.It provides a theoretical reference for the detection,analysis and fault diagnosis of the vibration of the rotation center of the cleaning manipulator.