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工程设计学报
工程设计学报  2018, Vol. 25 Issue (6): 647-654    DOI: 10.3785/j.issn.1006-754X.2018.06.004
保质设计     
预应力钢筒混凝土管端口打磨机器人的压紧力可靠性分析
崔国华1,2, 崔康康1, 吴海淼1, 张艳伟2, 刘健1
1. 河北工程大学 机械与装备工程学院, 河北 邯郸 056038;
2. 上海工程技术大学 智能机器人研发中心, 上海 201620
Reliability analysis for pressing force of prestressed concrete cylinder pipe port grinding robot
CUI Guo-hua1,2, CUI Kang-kang1, WU Hai-miao1, ZHANG Yan-wei2, LIU Jian1
1. College of Mechanical and Equipment Engineering, Hebei University of Engineering, Handan 056038, China;
2. Intelligent Robot Research and Development Center, Shanghai University of Engineering Science, Shanghai 201620, China
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摘要：

预应力钢筒混凝土管（prestressed concrete cylinder pipe，PCCP）在水利工程、工业供水等领域得到广泛应用。针对现有PCCP端口打磨方法效率低、打磨质量难以保证等问题，创新设计了一种PCCP承、插口打磨机器人。首先，根据工作服役环境要求，对端口打磨机器人进行了结构设计与样机制作，并通过现场试验分析该机器人的打滑失效问题；其次，根据打磨机器人克服摩擦力环绕承、插口作周向转动的打磨过程，在进行力学分析基础上建立其压紧力模型及可靠性模型，并采用随机摄动方法分析了整个打磨过程的动态可靠度，得到该打磨机器人可靠性最低的关键部位；最后，对影响端口打磨机器人可靠性的参数进行了灵敏度分析，得出使端口打磨机器人最快趋向可靠的参数为从动轮半径。研究结果为研发具有自主知识产权的大型PCCP自动化制造装备及进行下一步可靠性优化设计奠定了基础。
关键词： 预应力钢筒混凝土管;  端口打磨机器人;  压紧力模型;  可靠性;  灵敏度    
Abstract:

Prestressed concrete cylinder pipe (PCCP) is widely used in water conservancy projects, industrial water supply and so on. In view of the problems of inefficient and difficult to guarantee the quality of PCCP port grinding, a grinding robot for socket and spigot of PCCP is innovatively designed. First of all, according to the requirements of working in-service environment, the structure design and prototype production for the port grinding robot were carried out, and the skidding failure of the robot was analyzed by field test. Secondly, according to the grinding process that the grinding robot overcoming the frictional force to make a circumferential rotation around the pipe port, the pressing force model and reliability model were established on the basis of mechanical analysis. The dynamic reliability of the whole grinding process was analyzed using the stochastic perturbation method. The key part of the grinding robot with the lowest reliability was obtained. Finally, the working parameters affecting the reliability sensitivity of the port grinding robot were analyzed, and it was concluded that the parameter making the port grinding robot towards reliability fastest was from the radius of the driving wheel. The research results lay the foundation for the development of large-scale PCCP automated manufacturing equipment with independent intellectual property rights and the subsequent reliability optimization design.
Key words: prestressed concrete cylinder pipe    port grinding robot    pressing force model    reliability    sensitivity
收稿日期: 2018-05-18 出版日期: 2018-12-28
CLC:  TP202.1  
基金资助:

国家自然科学基金资助项目（51775165）；河北省自然科学基金资助项目（E2015402130）
通讯作者: 吴海淼(1982-),女,河北衡水人,副教授,博士,从事机电产品可靠性研究,E-mail:wuhaimiao@163.com     E-mail: wuhaimiao@163.com
作者简介: 崔国华(1975-),男,河北衡水人,教授,博士,从事机器人机械学、机器人化施工装备及其可靠性研究,E-mail:ghcui@hebeu.edu.cn,https://orcid.org/0000-0001-9813-3159
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引用本文:

崔国华, 崔康康, 吴海淼, 张艳伟, 刘健. 预应力钢筒混凝土管端口打磨机器人的压紧力可靠性分析[J]. 工程设计学报, 2018, 25(6): 647-654.

CUI Guo-hua, CUI Kang-kang, WU Hai-miao, ZHANG Yan-wei, LIU Jian. Reliability analysis for pressing force of prestressed concrete cylinder pipe port grinding robot[J]. Chinese Journal of Engineering Design, 2018, 25(6): 647-654.

链接本文:

https://www.zjujournals.com/gcsjxb/CN/10.3785/j.issn.1006-754X.2018.06.004    或    https://www.zjujournals.com/gcsjxb/CN/Y2018/V25/I6/647

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