本文選題：巡線(xiàn)機(jī)器人　切入點(diǎn)：結(jié)構(gòu)設(shè)計(jì)　出處：《西南石油大學(xué)》2015年碩士論文　論文類(lèi)型：學(xué)位論文

【摘要】：目前電纜檢測(cè)常用方法效率不高、費(fèi)用昂貴,隨著現(xiàn)代化技術(shù)的發(fā)展,電纜檢測(cè)需要鋼絲繩爬行器攜帶儀器檢測(cè)鋼絲繩代替以往由人工巡檢或直升機(jī)巡檢的方式,而目前制約鋼絲繩爬行器發(fā)展的主要因素是機(jī)械結(jié)構(gòu)難以滿(mǎn)足跨越障礙物的要求。本文對(duì)巡線(xiàn)機(jī)器人技術(shù)及國(guó)內(nèi)外研究現(xiàn)狀進(jìn)行調(diào)研、分析,提出一種新型的爬行器結(jié)構(gòu)設(shè)計(jì)方案,完成的主要工作有以下幾個(gè)部分：本文首先對(duì)巡線(xiàn)機(jī)器人技術(shù)及國(guó)內(nèi)外研究現(xiàn)狀進(jìn)行調(diào)研,并根據(jù)障礙物的特點(diǎn)運(yùn)用仿生學(xué)原理模仿樹(shù)懶爬行動(dòng)作提出三種不同的鋼絲繩爬行器結(jié)構(gòu)方案,通過(guò)對(duì)三種不同結(jié)構(gòu)方案的優(yōu)、缺點(diǎn)進(jìn)行對(duì)比分析,得出一種相對(duì)較優(yōu)的結(jié)構(gòu)。其次利用三維造型軟件Solidworks初步建立了該機(jī)構(gòu)的三維模型,通過(guò)對(duì)爬行器的關(guān)鍵受力部件進(jìn)行力學(xué)分析、計(jì)算,參考國(guó)家標(biāo)準(zhǔn)選擇相應(yīng)的部件的尺寸、型號(hào),利用Simulation模塊對(duì)其添加模擬負(fù)載進(jìn)行靜力學(xué)仿真分析,并且為了提高電池的使用效率,對(duì)關(guān)鍵部位進(jìn)行了尺寸的優(yōu)化設(shè)計(jì)。再次利用機(jī)械系統(tǒng)動(dòng)力學(xué)仿真分析軟件Adams對(duì)機(jī)構(gòu)滑臺(tái)和伸縮板動(dòng)作進(jìn)行動(dòng)態(tài)仿真分析。在負(fù)載和摩擦力的條件下,得到零部件的位移、速度、加速度、力矩等變化曲線(xiàn),驗(yàn)證了動(dòng)作規(guī)劃與電機(jī)選型的合理性。最后分別用VB軟件和Keil軟件編寫(xiě)爬行器的上位機(jī)控制程序、單片機(jī)程序,并利用Hot-51開(kāi)發(fā)板進(jìn)行程序的調(diào)試和電機(jī)控制模擬,驗(yàn)證了上位機(jī)能夠通過(guò)軟件和下位機(jī)對(duì)爬行器的各個(gè)電機(jī)進(jìn)行實(shí)時(shí)的控制。
[Abstract]:At present, the common methods of cable detection are not efficient and expensive. With the development of modern technology, cable detection needs wire rope crawler to carry instrument to detect wire rope instead of manual inspection or helicopter inspection. At present, the main factor that restricts the development of wire rope crawler is that the mechanical structure is difficult to meet the requirements of crossing obstacles. A new type of crawler structure design scheme is proposed. The main work accomplished is as follows: firstly, this paper investigates the technology of inspection robot and the research status at home and abroad. According to the characteristics of obstacles, three different structural schemes of wire rope crawler are put forward by imitating sloth crawling movement based on the principle of bionics. The advantages and disadvantages of three different structural schemes are compared and analyzed. A relatively better structure is obtained. Secondly, the 3D model of the mechanism is established by using the 3D modeling software Solidworks. Through the mechanical analysis and calculation of the key force components of the crawler, the dimensions of the corresponding components are selected with reference to the national standards. Model, using Simulation module to carry on static simulation analysis to add analog load, and in order to improve the efficiency of battery, The optimization design of the key parts is carried out, and the dynamic simulation analysis of the mechanism slide and the expansion plate is carried out by using the mechanical system dynamics simulation software Adams. Under the condition of load and friction, the displacement of the parts is obtained. The changing curves of speed, acceleration and torque verify the rationality of action planning and motor selection. Finally, the upper computer control program and single chip computer program of crawler are written by VB and Keil software, respectively. The Hot-51 development board is used to debug the program and simulate the motor control. It is verified that the upper computer can control the crawler motor in real time through software and lower computer.
【學(xué)位授予單位】：西南石油大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類(lèi)號(hào)】：TM75

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