摘要
姿态调节是决定水下机器人作业能力和运动稳定性的关键,为此针对煤矿抽水蓄能电站水下巡检机器人提出了一种基于全水液压的沉浮和姿态调节一体化系统。该系统主要由对称设置于机器人两侧的姿态活塞缸、变量泵及专用六位六通控制阀组成,传动介质来自机器人外部水体环境,其有沉浮、纵倾、横倾和对角侧倾四种调节状态。沉浮调节为机器人与外界水体的质量交换过程,而在调节姿态时机器人与外界水体交换通道关闭,可确保姿态调节过程中机器人本体始终处于悬停状态,提高了机器人调姿过程的稳定性。在结构创新基础上,推导了机器人重心及姿态角方程,建立了其姿态调节AMESim仿真模型,分析了机器人沉浮和姿态调节过程,并研究了活塞缸总长、间距、直径及浮心z向坐标等参数对姿态角的影响规律。结果表明:增大活塞缸直径、浮心z向坐标、活塞缸总长及活塞缸间距均有助于提高姿态角调节的灵敏性,其中浮心z向坐标越大,则其对姿态角的影响作用越明显,活塞缸直径越大,则其对纵倾姿态角的影响越小,而活塞缸总长仅对纵倾姿态角产生影响,活塞缸间距仅对横倾姿态角产生影响;且经过优化,机器人的最大纵倾姿态角和横倾姿态角分别可达78.46°和达68.20°。提出的基于全水液压的沉浮和姿态调节一体化系统具有结构紧凑、调节方便、节能环保等诸多优点,研究结果为后续沉浮及姿态调节系统的研制奠定了理论基础。
Attitude adjustment is the key to determine the operation capability and motion stability of underwater robots.For this purpose,an integrated system of ups and downs and attitude adjustment based on all-water hydraulics is proposed for the underwater inspection robot of coal mine pumped storage power station.The system is mainly composed of attitude piston cylinder,variable pump and special six-position six-way control valve which are symmetrically arranged on both sides of the robot.The transmission medium comes from the external water environment of the robot,and it has four adjustment states:ups and downs,trim,lateral and diagonal roll.The ups and downs adjustment is a mass exchange process between the robot and the external water,and the exchange channel between the robot and the external water is closed when adjusting the attitude,which can ensure that the robot is always in a hovering state during the attitude adjustment process and improve the stability of the robot attitude adjustment process.On the basis of structural innovation,the robot’s center of gravity and attitude angle equations are deduced,the AMESim simulation model of its attitude adjustment is established.The process of robot’s ups,downs and attitude adjustment is analyzed,and the influence of total length,spacing,diameter of piston cylinder and z coordinate of floating center on the attitude angle is studied.The results show that increasing the diameter of piston cylinder,the z-coordinate of floating center,the total length of piston-cylinder and the distance between the piston and cylinder are helpful to improve the sensitivity of attitude angle adjustment.The more obvious its effect on the attitude angle,the larger the cylinder diameter,the smaller the effect on the longitudinal attitude angle,while the total length of the piston cylinder only affects the longitudinal attitude angle,and the distance between the cylinders only affects the transverse attitude angle.After optimization,the maximum longitudinal attitude angle and transverse
作者
何涛
王传礼
高博
陈凡
赵凯平
王伟俊
HE Tao;WANG Chuanli;GAO Bo;CHEN Fan;ZHAO Kaiping;WANG Weijun(School of Mechanical Engineering,Anhui University of Science and Technology,Huainan 232001,China;State Key Laboratory of Mining Response and Disaster Prevention and Control in Deep Coal Mines,Huainan 232001,China;Anhui Key Laboratory of Mine Intelligent Equipment and Technology,Anhui University of Science and Technology,Huainan 232001,China;Anhui Collaborative Innovation Center of Mine Mechanical and Electrical Equipment,Huainan 232001,China;State Grid Anhui Electric Power Co.,Ltd.,Academy of Electric Power Sciences,Hefei 230061,China)
出处
《煤炭科学技术》
CAS
CSCD
北大核心
2022年第3期239-247,共9页
Coal Science and Technology
基金
国家电网有限公司总部科技项目资助项目(SGAHDK00DJJS1900077)。
关键词
煤矿
抽水蓄能电站
水下机器人
姿态调节
沉浮调节
水液压
coal mine
pumped storage power station
underwater robot
attitude adjustment
ups and downs adjustment
water hydraulic pressure
