摘要
引起城市路面坍塌的一个主要因素是地下管道周边土体病害,因此需要时常对地下管道及其周边土体情况进行灾害监测。现有的城市管道内检测技术主要靠管道机器人搭载摄像头进行图像检测,无法探明管壁内部缺陷以及管外周边土体病害,有着局限性。针对这种问题,课题组设计了一种能满足500 mm管道的检测需求,具备CCTV检测功能和雷达探测功能,同时能够在许多复杂地形的地下管道内行动的全地形管道内检测复合探头。使用ADAMS软件对正常和极端环境下的复合探头进行仿真分析。分析结果表明:正常情况下两螺旋滚筒旋转所产生的转矩基本相同,弹簧受力波动不大,雷达滚轮所受的摩擦力基本上在75 N左右;极端情况下螺旋滚筒两侧转矩不同,弹簧受力突变为225 N左右,雷达滚轮受到大冲击,后轮不受力。针对仿真结果,完成电机型号的确定,减小了因双螺旋推进器产生的窜动,同时优化了支撑连接装置。
One of the main reasons for urban pavement collapse is the soil disease,so disaster monitoring of underground pipelines and their surrounding soil conditions is needed frequently.The existing inspection technology in urban pipelines mainly relies on pipeline robots carrying cameras for image inspection,but it has limitations in detecting internal defects in the pipe wall and soil diseases around the outside of the pipe.To address this problem,the group designed an all-terrain in-pipe inspection composite probe that meets the inspection needs of 500mm pipes with CCTV detection and radar detection and is capable of operating in many underground pipes with complex terrain.Simulation analysis of the composite probe under normal and extreme environments was performed using ADAMS software.The analysis results show that:the torque generated by the rotation of the two spiral drums under normal conditions is basically the same,the spring force fluctuates little,and the friction force on the radar roller is basically around 75N;the torque on both sides of the spiral drums under extreme conditions is not the same,the spring force changes abruptly to around 225N,and the radar roller is subjected to a large impact and the rear wheel is not subjected to force.Based on the simulation results,the motor type is determined,the flicker generated by the double spiral thruster is reduced,and the support connection device is optimized.
作者
张志浪
欧阳兵
王鹏杰
杨东
李涛涛
ZHANG Zhi-lang;OUYANG Bing;WANG Peng-jie;YANG Dong;LI Tao-tao(School of Mechanical and Electronic Engineering,Pingxiang University,Pingxiang Jiangxi 337055,China)
出处
《萍乡学院学报》
2022年第6期101-105,112,共6页
Journal of Pingxiang University
基金
江西省自然科学基金资助项目(20212BAB214047)
江西省教育厅科学技术研究项目(202710)。
关键词
管道检测
双螺旋推进器
ADAMS仿真
探地雷达
全地形
pipeline inspection
double screw thruster
ADAMS simulation
ground penetrating radar
all-terrain
