| With the ever-changing development of the engineering field,a large number of deep roadway projects are implemented.However,the application safety of the roadway is threaten by dynamic disasters such as rock burst.Thus,it is necessary to develop detection robot to monitor the safety of the tunnel engineering.The project is supported by the National Natural Science Foundation of China major scientific research instrument development project: deep tunnel/tunnel dynamic disaster physical simulation test system(Project No.5142780101).Among the small-scale rock hole comprehensive detection robot is the necessary device for the detection and test of the whole dynamic disaster physical simulation test system,which is used for the detection task of information collection,feedback of rock fission and fracture evolution in the pipeline.According to the research status of the movement mechanism and detection device of the pipeline detection robot at home and abroad,combined with the practical engineering application,the overall scheme of the small-scale rock hole comprehensive detection robot was studied in the paper,which includes the overall design of the robot’s walking mechanism,reducing mechanism and detection device.The driving torque was calculated and the mode of motor was selected.The strength and vibrated deformation of motor shaft and beam were analyzed by ANSYS/Workbench,and come to a conclusion that the motor vibration was not affect the stability of the motor coupling and beam.According to the research of robot dynamics,the resistance of the robot in the pipeline was analyzed,and the driving force provided by robot was solved.By analyzing the interactive force between of the robot and the pipe,the change rule of the pose angle and support force was summarized.For the research of climbing performance of robot,the dynamic equation that defined climbing angle as a variable was constructed to solve the limit climbing angle of robot.Based on the analysis of climbing mechanics and variable diameter model,the constraint equation of spring parameters was established and solved by MATLAB.The rationality of the mechanism and the feasibility of the climbing performance were verified by Adams Simulation of the robot’s reducing and climbing motion.According to the research of robot dynamics,the control scheme of the project was made,including the communication mode,controller,sensor selection and so on.Based on the mathematical model of DC servo motor,the transfer function of the motor was solved,and the traditional PID and fuzzy PID control of the system were completed.The overshoot and antidisturbance ability of traditional PID and fuzzy PID were compared by system simulation in MATLAB / Simulink and selected the fuzzy PID control method.According to the theoretical research in the previous chapter,a small device was designed and manufactured to carry out relevant experimental research,including motor speed measurement,walking speed test,pose angle verification test,climbing angle test,ultrasonic sensor test and camera detection device verification test.The experimental results show that the small-scale rock hole comprehensive detection robot can meet the requirements of Design requirements,and is able to finish detection task in the pipeline. |
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