Design And Research Of Manhole Cover Replacement Robot

With the rapid development of urban intellectualization,the manhole is an important connection channel of urban water supply,sewage discharge and optical fiber network.In urban construction,the damage rate of manhole is getting higher and higher,and the replacement process is also more complicated.In view of the existing large number of urban manhole cover replacement needs and tedious and inefficient manual replacement methods,this paper designs and researches a kind of high efficiency,low cost and high efficiency manhole cover replacement method Automatic construction,responsive manhole cover replacement robot.In this paper,the research of manhole cover replacement robot is mainly carried out from the following aspects:1.Structural design and static simulation analysis of the manhole cover replacement robotAccording to the specific construction scheme and common inspection well size of inspection well replacement,combined with the advantages and stability of pavement milling technology and hydraulic drive technology in engineering application,the overall structure of inspection well cover replacement robot is designed,and the components meeting the system functional requirements are designed.The strength of the robot is analyzed by using ANSYS simulation software,and the structure of the robot is studied in the latest stage Whether it meets the strength requirements under heavy load condition.2.Kinematics analysis,dynamics analysis and experimental analysis of the manhole cover replacement robotThrough the virtual prototype model and kinematics simulation of the manhole cover replacement robot,based on D-H coordinate system,the kinematics model of the manhole cover replacement robot is established.Through its forward and inverse kinematics solutions,the rotation range of each joint angle of the manipulator is obtained RTB establishes the simulation model of the robot and explores its workspace range.The simulation results show that the workspace range of the robot meets the requirements of the system activity range.Through the research on the mechanical properties of the manhole cover replacement robot,the influence of its hydraulic potential energy on the joint torque is clarified,and then the relationship between the joint torque and the driving force is established by using Lagrange equation and the principle of torque balance,thus the dynamic model is established.The change curve of the driving force of three groups of hydraulic cylinders in the milling process of the manhole cover replacement robot is simulated and analyzed by using MATLAB It shows that it is in line with the actual working condition of the design.The virtual prototype model is constructed,and the kinematics and dynamics simulation analysis and verification are carried out by using the motion simulation software Siemens NX.The optimal motion trajectory of the inspection well cover replacement robot under the simulated working condition and the stress of each hinge point are obtained,which meet the strength requirements.3.Design of control system for manhole cover replacement robotAccording to the control requirements of the robot,the hydraulic control system of the robot is designed.The mathematical model of the hydraulic system is established,and the PID controller is used to adjust the control performance of the system.The simulation results show that the response time of the control system meets the system requirements.