混凝土管端口打磨机器人设计及力学性能分析

摘要/Abstract

摘要： 为提高预应力钢筒混凝土管道端口的打磨精度和效率，设计了一种新型的自行走式端口打磨机器人。基于构型演变法对该机器人进行了构型设计及结构设计，建立了其力学模型。以插口端打磨机器人应用于4 m口径管道为实例，求解了机器人运行过程中的极限载荷，并进行了有限元仿真分析，分析结果表明，该机器人在运行过程中，强度、刚度满足现场需求。现场试验验证了该机器人具有较高的打磨效率与工作可靠性。

关键词: 端口打磨机器人, 构型设计, 结构设计, 力学模型, 有限元仿真

Abstract: In order to improve the accuracy and efficiency of grinding prestress concrete cylinder pipe ends, a novel self-propelled pipe end grinding robot was designed.Configuration and structure of this robot were designed based on configurational evolution method, and the mechanics model of the robot was established. Taking the jack end grinding robot applied to the 4 m diameter pipe as an example, ultimate load of the robot in the operations was obtained, and the finite element simulation analysis was carried out. Analysis results show that the strength and stiffness of the robot meet the requirements of fields in running processes. And the field test proves that the robot has higher grinding efficiency and reliability.

Key words: pipe end grinding robot, configuration design, structure design, mechanics model, finite element simulation

中图分类号:

TP242.3

崔国华1;刘健1;马良2;崔康康1. 混凝土管端口打磨机器人设计及力学性能分析[J]. 中国机械工程.

CUI Guohua1;LIU Jian1;MA Liang2;CUI Kangkang1. Design and Mechanics Performance Analysis of a Concrete Pipe End Grinding Robot[J]. China Mechanical Engineering.

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