论文部分内容阅读
清管与检测机器人在橡胶密封碗驱动作用下沿管道内部运行,其动态运移的平稳性直接影响到管道检测维护的准确性、精度及作业安全。从管内机器人的橡胶密封碗和压差驱动力入手,分析了管道蜡层剥离和切屑变形去除等动态特性,建立了管道机器人作业的非稳态运移模型,进一步凝练和构建了垢层剥离时橡胶密封碗的摩擦学系统,并且使用正交切削理论分析了污垢剥离和切屑形变的主要影响因素。阐明了管道机器人橡胶密封碗的密封摩擦过程,应用光学显微、数字图像等原位观测技术,研究了机械参数变化及橡胶材料对于蜡层剥离的影响,为橡胶密封碗结构设计与智能控制算法的优化提供帮助。
The pigging and testing robots run along the inside of the pipeline under the action of the rubber sealing bowl. The smoothness of the dynamic migration directly affects the accuracy, precision and work safety of the pipeline inspection and maintenance. Starting from the rubber seal bowl and the driving force of differential pressure in the robot, the dynamic characteristics such as wax layer peeling and chip deformation and removal were analyzed. The unsteady transport model of pipeline robot was established. When the scale was peeled off, Rubber seal bowl tribological system, and the use of orthogonal cutting theory analysis of the main factors affecting soil delamination and chip deformation. The sealing and rubbing process of rubber sealed bowl for pipeline robot was clarified. In situ observation technology such as optical microscope and digital image was used to study the influence of mechanical parameters and rubber material on the delamination of wax layer. The structure design and intelligent control algorithm Optimization of the help.