Facing Large Slope Hydraulic Buildings Research On The Mechanical System Of The Robot

With the rapid development of the water conservancy industry,the routine inspection of various water conservancy facilities has become particularly important.In the complex water environment,the structure inspection of hydraulic buildings has an urgent need for underwater crawling robot with large slope.In view of the current problems of insufficient adsorption force and unstable movement of underwater robots in the face of large slope hydraulic construction surface,a robot prototype suitable for underwater crawling on large slope is developed to realize stable crawling movement of robots on large slope underwater.The main work of this paper is as follows:1.The overall design of robot mechanical system.The statics model of the stable adsorption state of the robot on the underwater slope is established,and the relationship between the adsorption force needed by the robot for stable adsorption and the slope inclination angle and friction coefficient is analyzed.Based on the above mechanical analysis,each module of the underwater crawling robot with large slope is selected and designed.Firstly,the creeping structure and adsorption structure of the robot are determined.Secondly,the structure of the body frame and sealed cabin of the robot is designed,and the strength of the frame and sealed cabin is simulated and verified by ANSYS software to verify the reliability of the structure.Finally,according to the adjustment of robot buoyancy and gravity,the buoyancy block is selected and designed2.Design and analysis of adsorption structure.The adsorption structure model of underwater vehicle is proposed,and the adsorption principle of the adsorption structure and the main parameters affecting the adsorption force are analyzed.The hydrodynamics simulation of the adsorption structure is carried out by using Fluent,and the influence trend of the adsorption structure on the adsorption force is analyzed under the different rotating speed of the thruster,the gap between the adsorption structure and the adsorption surface and the shape size of the adsorption structure.Furthermore,the rationality of the adsorption structure was verified by physical experiments.3.Motion stability analysis of underwater robot.The dynamic model of the robot crawling on the inclined plane is established,and the force of the robot under different motion failures is analyzed.Because the influence of the water resistance of the underwater vehicle can not be ignored,the water resistance of the robot is analyzed and calculated by Ansys,and the critical adsorption force of the robot under different motion failure is calculated according to the mechanical analysis.Furthermore,the straight-line creeping motion and in-situ rotation motion of the robot on the slope with large slope are simulated by using Recur Dny multibody dynamics simulation software,and the motion performance of the robot on the slope and vertical elevation with different inclination angles is studied.4.Physical prototype construction and experimental testing.First of all,the performance test experiments of the key parts of the robot are carried out to ensure the safety of the underwater experiment of the robot.Then a series of underwater motion experiments of the robot are carried out in the experimental pool,and the experiments show that the robot can move stably on the slope and elevation with large slope.Finally,the motion test of the robot prototype is carried out on the dam surface of the river embankment,and the experimental results show that the surface robot achieves the expected performance and can meet the stable creeping motion of the slope of underwater hydraulic structures with large slope.With more and more hydraulic engineering facilities put into operation,the demand for safety inspection and maintenance of reservoir dams is increasing.Therefore,the research on this topic can improve the adaptability and engineering application ability of underwater robots,and it is of great significance to promote the development of underwater robot technology.