窨井清掏机器人研究
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摘要
窨井清掏机器人属于服务机器人范畴,用来清除窨井中的淤泥污物,减轻人工工作强度,保证城市排水系统的正常工作。
本文在分析了现有窨井清掏机器人的优缺点后,把窨井清掏机器人的机械本体设计成随车起重机与抓斗的组合结构,整个机构由液压系统控制,吊臂具有水平转动和上下俯仰及伸缩功能,抓斗由液压缸驱动,各鄂板能够同步开合,具有较高的抓取率。并用闭环矢量法对窨井清掏机器人抓斗机构进行了运动学分析,利用Simulink和SimMechanics对运动学方程进行了仿真研究,验证了运动学分析的正确性,仿真的运动轨迹证明了抓斗机构作为窨井清掏机构的合理性。对臂架在有风工况和最大工作载荷情况下,进行了整体的理论受力分析,并在考虑各节臂之间的相互影响的基础上,利用ANSYS软件分别对各个臂段进行有限元分析,从应力云图中可以得出危险截面的应力均在安全范围内,且与理论计算结果相符,证明臂架的设计合理可靠,提高了整机的设计质量。最后对样机进行了典型窨井污物的现场抓取实验,实验表明清掏机器人的总体结构、液压系统及抓斗的性能指标满足设计和生产实际使用要求。
Sand sediment trap cleaning robot, which is used for removing dirt mud from Scenting wells, belong to the scope of service robots. It also can help to reduce the manual work intensity and to ensure that urban drainage system work properly.
After analyzing the advantages and disadvantages of Sand sediment trap cleaning robot, the mechanical noumenonn of the robot was designed as a combination structure of a Lorry crane and grab in this paper.The entire mechanism is controlled by the hydraulic system. The boom has two freedoms which are the level of rotation and pitch. Grab is droved by the hydraulic cylinder, so that the jaw plate can be simultaneously open and close, which have a high crawl rate. Then the closed loop vector method was used to deduce the direct and inverse keys of its kinematics function of the grab mechanism, and Simulink and SimMechanics was used to simulate the motion of the grab to show that the kinematics analysis is correct. The simulation trajectory proves that the grab mechanism used for Sand sediment trap cleaning robot is reasonable.Under the wind conditions and the case of maximum working load,theoretical stress analysis of the overall boom mechanism was carried out. And considering the impact between the arms; ANSYS was used to do the finite element analysis of each arm respectively. The stress nephogram show that the dangerous section is in the safety area and the results is consistent with the theoretical calculation, which proves that the boom design is reasonable and reliable and can improve the quality of the whole machine. Finally, the crawl experiment of classic dirt on the spot using the prototype was carried out, the results show that Sand sediment trap cleaning robot's overall structure, hydraulic system and grab's performance indicators meet the requirements of the design and the actual application
本文在分析了现有窨井清掏机器人的优缺点后,把窨井清掏机器人的机械本体设计成随车起重机与抓斗的组合结构,整个机构由液压系统控制,吊臂具有水平转动和上下俯仰及伸缩功能,抓斗由液压缸驱动,各鄂板能够同步开合,具有较高的抓取率。并用闭环矢量法对窨井清掏机器人抓斗机构进行了运动学分析,利用Simulink和SimMechanics对运动学方程进行了仿真研究,验证了运动学分析的正确性,仿真的运动轨迹证明了抓斗机构作为窨井清掏机构的合理性。对臂架在有风工况和最大工作载荷情况下,进行了整体的理论受力分析,并在考虑各节臂之间的相互影响的基础上,利用ANSYS软件分别对各个臂段进行有限元分析,从应力云图中可以得出危险截面的应力均在安全范围内,且与理论计算结果相符,证明臂架的设计合理可靠,提高了整机的设计质量。最后对样机进行了典型窨井污物的现场抓取实验,实验表明清掏机器人的总体结构、液压系统及抓斗的性能指标满足设计和生产实际使用要求。
Sand sediment trap cleaning robot, which is used for removing dirt mud from Scenting wells, belong to the scope of service robots. It also can help to reduce the manual work intensity and to ensure that urban drainage system work properly.
After analyzing the advantages and disadvantages of Sand sediment trap cleaning robot, the mechanical noumenonn of the robot was designed as a combination structure of a Lorry crane and grab in this paper.The entire mechanism is controlled by the hydraulic system. The boom has two freedoms which are the level of rotation and pitch. Grab is droved by the hydraulic cylinder, so that the jaw plate can be simultaneously open and close, which have a high crawl rate. Then the closed loop vector method was used to deduce the direct and inverse keys of its kinematics function of the grab mechanism, and Simulink and SimMechanics was used to simulate the motion of the grab to show that the kinematics analysis is correct. The simulation trajectory proves that the grab mechanism used for Sand sediment trap cleaning robot is reasonable.Under the wind conditions and the case of maximum working load,theoretical stress analysis of the overall boom mechanism was carried out. And considering the impact between the arms; ANSYS was used to do the finite element analysis of each arm respectively. The stress nephogram show that the dangerous section is in the safety area and the results is consistent with the theoretical calculation, which proves that the boom design is reasonable and reliable and can improve the quality of the whole machine. Finally, the crawl experiment of classic dirt on the spot using the prototype was carried out, the results show that Sand sediment trap cleaning robot's overall structure, hydraulic system and grab's performance indicators meet the requirements of the design and the actual application
引文
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[2]张先立,刘霁萱.城市排水工程建设中亟待解决的几个问题.给水排水动态.2007(02)：1-5页
[3]张幸涛.城市污泥的减量化和资源化研究.重庆大学硕士论文.2005：1-5页
[4]Davis,R.D. The impact of EU and UK environmental pressures on the future of sludge treatment and disposal Water Environ. Manage, 1996,10(02).65-69P
[5]Wang,Xun. Characteristics and application analysis of civil architectural plastic pipeline for water supply and drainage. Wuhan Gangtie Xueyuan Xuebao,2000:361-363P
[6]李海江,张志军.对改进城市排水系统问题的探讨.中国建设信息(水工业市场.2007(05)：1-3页
[7]Gao,W-Q,Li,X-F, Xu,R-C.Collapse analysis and handling of Silty base-ment trench of a Drainage pipeline.Jianghan Shiyou Xueyuan Xuebao. 2001(23):147-148P
[8]W.Guo,L.Soibelman,J.H.Garrett Jr.Automated defect detection for sewer pipeline inspection and condition assessment. Automation in Construction. 2009 (08):587-596P
[9]C.Lampris,R.Lupo,C.R.Cheeseman.Geopolymerisation of silt generated from construction and demolition waste washing plants.Waste Manage-ment.2009(01):368-373P
[10]王传江,张志兵,吴建,孙秀娟.污水管道多功能作业机器人设计方案.工程机械.2009(03)：1-2页
[11]徐小云,颜国正,鄢波.一种新型管道检测机器人系统.上海交通大学学报.2004(08)：1-2页
[12]王长林,程玉梁.浅谈排水管道的清淤问题.化工之友.2006(07)：1页
[13]安少军.城市窨井积水清掏机原理样机的研究.哈尔滨工程大学硕士论文.2007：1-6页
[14]吴融华.无所不能的专用汽车(五)市政环卫用车(4)真空吸污车.汽车与配件.1997(03)：1-2页
[15]刘志远.Elgin公司的几款清扫车及真空吸污车.商用汽车.2005(03)：2页
[16]http://32385.machineryinfo.net/product/7853.htm
[17]孙勇,杨向东,孙建宇,冯之敬.排水管道淤泥方法及开发新设备的构思.给水排水.1996(08)：1-2页
[18]庄静伟,王强,史亮,杜峰峰.高压水射流的发展与应用.木材加工机械.2007(04)：1-2页
[19]吴保玉,田豪,过薛迅,刘江河,石又新.新型联合清污车的设计.专用汽车.2008(09)：1-2页
[20]http://www.hasutong.com/p_002.htm
[21]李世华.市政工程施工图集3给水排水污水处理工程.北京：中国建筑工业出版社.2001：155-167页
[22]Tanji,K.K.Keyes Jr.,C.G. Water Quality Aspects of Irrigation and Drainage: Past History and Future Challenges for Civil Engineers.American Society of Civil Engineers.2003:101-109P
[23]Jeyapalan,Jey K..Future outlook for pipeline materials,methods,and main-tenance.New Pipeline Technologies.2003,7(13):846-855P
[24]张贵义,丁如珍.淤泥类水泥的强度特性试验研究.公路交通科技.2004(11)：26-29页
[25]黄丽珊.浅析饱水淤泥和粘性土的粘聚力.矿山与地质.2005.2(19)：201-203页
[26]Utsumi,Makoto,Sakai,Hiroshi,Akizono,Junichi.The state representing me-thod for underwater remote controlled grab.Ocean '04-MTS/IEEE Tech-no-Ocean '04:Bridges across the Oceans-Conference Proceedings. 2004,11(09):2098-2103P
[27]Wright, Wesley C.Yoder,Ronald E. Buchanan,John R..A comparison of grab versus flow dependent sampling for monitoring water quality.ASAE Annual International Meeting.2004,8(01):2433-2444P
[28]沈卓.高抓取比耙剪式抓斗的研究.上海海事大学硕士论文.2005：6-8页
[29]牟瑞平,张硕.起重机伸缩臂局部稳定性研究.中国工程机械学报.2008(02)：1-3页
[30]Hua Tingchen,Wan Chenhsien.Optimization Theory.HON MIN BOOK Co,1981:1-10P
[31]Rozvany GIN,Bendsoe MP, Kirsch U.Layout optimization of structures. Applied Mechanics Reviews,1995,48(02):41-119P
[32]Hans A Eschenauer,Niels Olhoff.Topology optimization of continuum structures:A review,Appl Mech Reviews,2001,54(04):41-119P
[33]GU Yuan-xian,CHENG geng-dong.Reserch and applications of numerical methods of structural shape optimization. Computational Structural Me-chanics and Applications,1993,10(03):321-335P
[34]SONG Tian-xia,GUO Jian-sheng,Li Wei.Optimal lectotype for plate-shell structures.Chinese Journal of Computational Mechanics,1999,16(02): 187-195P
[35]郭军霞.一种低屈服比高强度低合金钢动态断裂行为的研究.同济大学大学博士后论文.2007：1-3页
[36]Bacon C,Farm J,Latailade J L.Dynamic fracture toughness determined from load point displacement.Experimental Mechanics,1994(3):217-223P
[37]http://www.demac.it/en/hose-reel.php
[38]张久林.工程机械液压行走系统的设计及理论研究.同济大学大学硕士论文.2007：2页
[39]王文斌等.机械设计手册4.北京：机械工业出版社,2007：198-211页
[40][美]约翰·F·加德纳(Gardner,J.F.)著；周进雄,张陵译.机构动态仿真-使用MATLAB和SIMULINK.西安交通大学出版社.2002.9：25-27页
[41]张立勋,董玉红.机电系统仿真与设计.哈尔滨工程大学出版社.2006：72-73页
[42]刘白雁等.机电系统动态仿真.机械工业出版社.2005,7：167页
[43]罗家佳,胡国清.基于MATLAB的机器人运动仿真研究.厦门大学学报.2005,5(44)：640-644页
[44]http://hi.baidu.com/73290673/blog/item/812eb77ee8cc53300cd7daf5.html
[45]赵经文,王宏钮.结构有限元分析北京：科学出版社,2001.
[46]HolandandBellF.initeElementMethods.TAPIR, Trondheim-No, ay,1972.
[47]Gallagher.FiniteElementAnalysis:Fundajnentals.Prentice-Hall, N.J.,1975.
[48]高耀东,郭喜平.ANSYS机械工程应用25例.北京.北京电子工业出版社.2007年3月第一版
[49]中国国家标准化管理委员会.起重设计规范2008.04
[50]张质文,虞和谦,王金诺,包起帆.起重机设计手册,北京：中国铁道出版社1998
[51]孙军,经树栋.CAD与ANSYS的接口技术探讨.2004(2)化工设备与管道：55-56页
[52]李雪丽,田广才,田报.ANSYS与其它软件接口的研究与开发.2007(2)：精密制造与自动化：48-50页
[53]纪爱敏,彭铎,刘木南,罗衍领,张培强.QY25型汽车起重机伸缩吊臂的有限元分析.机械工程,2003(01)：19-21页
[2]张先立,刘霁萱.城市排水工程建设中亟待解决的几个问题.给水排水动态.2007(02)：1-5页
[3]张幸涛.城市污泥的减量化和资源化研究.重庆大学硕士论文.2005：1-5页
[4]Davis,R.D. The impact of EU and UK environmental pressures on the future of sludge treatment and disposal Water Environ. Manage, 1996,10(02).65-69P
[5]Wang,Xun. Characteristics and application analysis of civil architectural plastic pipeline for water supply and drainage. Wuhan Gangtie Xueyuan Xuebao,2000:361-363P
[6]李海江,张志军.对改进城市排水系统问题的探讨.中国建设信息(水工业市场.2007(05)：1-3页
[7]Gao,W-Q,Li,X-F, Xu,R-C.Collapse analysis and handling of Silty base-ment trench of a Drainage pipeline.Jianghan Shiyou Xueyuan Xuebao. 2001(23):147-148P
[8]W.Guo,L.Soibelman,J.H.Garrett Jr.Automated defect detection for sewer pipeline inspection and condition assessment. Automation in Construction. 2009 (08):587-596P
[9]C.Lampris,R.Lupo,C.R.Cheeseman.Geopolymerisation of silt generated from construction and demolition waste washing plants.Waste Manage-ment.2009(01):368-373P
[10]王传江,张志兵,吴建,孙秀娟.污水管道多功能作业机器人设计方案.工程机械.2009(03)：1-2页
[11]徐小云,颜国正,鄢波.一种新型管道检测机器人系统.上海交通大学学报.2004(08)：1-2页
[12]王长林,程玉梁.浅谈排水管道的清淤问题.化工之友.2006(07)：1页
[13]安少军.城市窨井积水清掏机原理样机的研究.哈尔滨工程大学硕士论文.2007：1-6页
[14]吴融华.无所不能的专用汽车(五)市政环卫用车(4)真空吸污车.汽车与配件.1997(03)：1-2页
[15]刘志远.Elgin公司的几款清扫车及真空吸污车.商用汽车.2005(03)：2页
[16]http://32385.machineryinfo.net/product/7853.htm
[17]孙勇,杨向东,孙建宇,冯之敬.排水管道淤泥方法及开发新设备的构思.给水排水.1996(08)：1-2页
[18]庄静伟,王强,史亮,杜峰峰.高压水射流的发展与应用.木材加工机械.2007(04)：1-2页
[19]吴保玉,田豪,过薛迅,刘江河,石又新.新型联合清污车的设计.专用汽车.2008(09)：1-2页
[20]http://www.hasutong.com/p_002.htm
[21]李世华.市政工程施工图集3给水排水污水处理工程.北京：中国建筑工业出版社.2001：155-167页
[22]Tanji,K.K.Keyes Jr.,C.G. Water Quality Aspects of Irrigation and Drainage: Past History and Future Challenges for Civil Engineers.American Society of Civil Engineers.2003:101-109P
[23]Jeyapalan,Jey K..Future outlook for pipeline materials,methods,and main-tenance.New Pipeline Technologies.2003,7(13):846-855P
[24]张贵义,丁如珍.淤泥类水泥的强度特性试验研究.公路交通科技.2004(11)：26-29页
[25]黄丽珊.浅析饱水淤泥和粘性土的粘聚力.矿山与地质.2005.2(19)：201-203页
[26]Utsumi,Makoto,Sakai,Hiroshi,Akizono,Junichi.The state representing me-thod for underwater remote controlled grab.Ocean '04-MTS/IEEE Tech-no-Ocean '04:Bridges across the Oceans-Conference Proceedings. 2004,11(09):2098-2103P
[27]Wright, Wesley C.Yoder,Ronald E. Buchanan,John R..A comparison of grab versus flow dependent sampling for monitoring water quality.ASAE Annual International Meeting.2004,8(01):2433-2444P
[28]沈卓.高抓取比耙剪式抓斗的研究.上海海事大学硕士论文.2005：6-8页
[29]牟瑞平,张硕.起重机伸缩臂局部稳定性研究.中国工程机械学报.2008(02)：1-3页
[30]Hua Tingchen,Wan Chenhsien.Optimization Theory.HON MIN BOOK Co,1981:1-10P
[31]Rozvany GIN,Bendsoe MP, Kirsch U.Layout optimization of structures. Applied Mechanics Reviews,1995,48(02):41-119P
[32]Hans A Eschenauer,Niels Olhoff.Topology optimization of continuum structures:A review,Appl Mech Reviews,2001,54(04):41-119P
[33]GU Yuan-xian,CHENG geng-dong.Reserch and applications of numerical methods of structural shape optimization. Computational Structural Me-chanics and Applications,1993,10(03):321-335P
[34]SONG Tian-xia,GUO Jian-sheng,Li Wei.Optimal lectotype for plate-shell structures.Chinese Journal of Computational Mechanics,1999,16(02): 187-195P
[35]郭军霞.一种低屈服比高强度低合金钢动态断裂行为的研究.同济大学大学博士后论文.2007：1-3页
[36]Bacon C,Farm J,Latailade J L.Dynamic fracture toughness determined from load point displacement.Experimental Mechanics,1994(3):217-223P
[37]http://www.demac.it/en/hose-reel.php
[38]张久林.工程机械液压行走系统的设计及理论研究.同济大学大学硕士论文.2007：2页
[39]王文斌等.机械设计手册4.北京：机械工业出版社,2007：198-211页
[40][美]约翰·F·加德纳(Gardner,J.F.)著；周进雄,张陵译.机构动态仿真-使用MATLAB和SIMULINK.西安交通大学出版社.2002.9：25-27页
[41]张立勋,董玉红.机电系统仿真与设计.哈尔滨工程大学出版社.2006：72-73页
[42]刘白雁等.机电系统动态仿真.机械工业出版社.2005,7：167页
[43]罗家佳,胡国清.基于MATLAB的机器人运动仿真研究.厦门大学学报.2005,5(44)：640-644页
[44]http://hi.baidu.com/73290673/blog/item/812eb77ee8cc53300cd7daf5.html
[45]赵经文,王宏钮.结构有限元分析北京：科学出版社,2001.
[46]HolandandBellF.initeElementMethods.TAPIR, Trondheim-No, ay,1972.
[47]Gallagher.FiniteElementAnalysis:Fundajnentals.Prentice-Hall, N.J.,1975.
[48]高耀东,郭喜平.ANSYS机械工程应用25例.北京.北京电子工业出版社.2007年3月第一版
[49]中国国家标准化管理委员会.起重设计规范2008.04
[50]张质文,虞和谦,王金诺,包起帆.起重机设计手册,北京：中国铁道出版社1998
[51]孙军,经树栋.CAD与ANSYS的接口技术探讨.2004(2)化工设备与管道：55-56页
[52]李雪丽,田广才,田报.ANSYS与其它软件接口的研究与开发.2007(2)：精密制造与自动化：48-50页
[53]纪爱敏,彭铎,刘木南,罗衍领,张培强.QY25型汽车起重机伸缩吊臂的有限元分析.机械工程,2003(01)：19-21页