摘要
针对下水管道内部管道存在沉井问题,设计出具有跨越沉井功能的管道机器人。首先,根据机器人跨越沉井的工作原理和特点,创建升降机构的三维模型;其次,建立机器人跨越沉井时支撑装置的力学模型,推导出支撑装置的应力和应变公式;最后,对支撑装置受力过程进行仿真,验证了应力和应变公式的正确性,为管道机器人后续的优化提供基础。
In this study,apipeline robot that can step over the open caisson inside the sewer was designed.Firstly,a three-dimensional model of the lifting mechanism was created based on the working principle and characteristics of the robot.Secondly,the mechanical model of the supporting device for the robot crossing the open caisson was established,and the stress and strain formula of the supporting device was deduced.Finally,the loading process of the supporting device was simulated,which verified the correctness of the stress and strain formula,providing a basis for the optimization of the pipeline robot.
作者
夏康
黄晓华
周俊俊
李如翔
李波
XIA Kang, HUANG Xiaohua, ZHOU Junjun, LI Ruxiang, LI Bo(School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China)
出处
《机械与电子》
2018年第8期71-74,80,共5页
Machinery & Electronics
