Modeling andanalysis of attitude regulation system of underwater inspection robot for coal mine pumped-storage power station

被引：0
|
作者：
He T. [1 ,2 ,3 ,4 ]
Wang C. [1 ,3 ,4 ]
Gao B. [5 ]
Chen F. [5 ]
Zhao K. [1 ,3 ]
Wang W. [1 ,4 ]
机构：
[1] School of Mechanical Engineering, Anhui University of Science and Technology, Huainan
[2] State Key Laboratory of Mining Response and Disaster Prevention and Control in Deep Coal Mines, Huainan
[3] Anhui Key Laboratory of Mine Intelligent Equipment and Technology, Anhui University of Science and Technology, Huainan
[4] Anhui Collaborative Innovation Center of Mine Mechanical and Electrical Equipment, Huainan
[5] State Grid Anhui Electric Power Co., Ltd., Academy of Electric Power Sciences, Hefei
来源：
Meitan Kexue Jishu/Coal Science and Technology (Peking) | 2022年 / 50卷 / 03期
关键词：
attitude adjustment; coal mine; pumped storage power station; underwater robot; ups and downs adjustment; water hydraulic pressure;
D O I：
10.13199/j.cnki.cst.2020-1470
中图分类号：
学科分类号：
摘要：
Attitude adjustment is the key to determine the operation capability and motion stability of underwater robots. For this purpose, an integrated system of ups and downs and attitude adjustment based on all-water hydraulics is proposed for the underwater inspection ro⁃ bot of coal mine pumped storage power station. The system is mainly composed of attitude piston cylinder, variable pump and special six-position six-way control valve which are symmetrically arranged on both sides of the robot. The transmission medium comes from the exter⁃ nal water environment of the robot, and it has four adjustment states:ups and downs, trim, lateral and diagonal roll. The ups and downs adjustment is a mass exchange process between the robot and the external water, and the exchange channel between the robot and the ex⁃ ternal water is closed when adjusting the attitude, which can ensure that the robot is always in a hovering state during the attitude adjust⁃ ment process and improve the stability of the robot attitude adjustment process. On the basis of structural innovation, the robot's center of gravity and attitude angle equations are deduced, the AMESim simulation model of its attitude adjustment is established. The process of ro⁃ bot's ups, downs and attitude adjustment is analyzed, and the influence of total length, spacing, diameter of piston cylinder and z coordi⁃ nate of floating center on the attitude angle is studied. The results show that increasing the diameter of piston cylinder, the z-coordinate of floating center, the total length of piston-cylinder and the distance between the piston and cylinder are helpful to improve the sensitivity of attitude angle adjustment. The more obvious its effect on the attitude angle, the larger the cylinder diameter, the smaller the effect on the longitudinal attitude angle, while the total length of the piston cylinder only affects the longitudinal attitude angle, and the distance be⁃ tween the cylinders only affects the transverse attitude angle. After optimization, the maximum longitudinal attitude angle and transverse at⁃ titude angle of the robot can reach 78.46° and 68.20°, respectively. The proposed integrated system of ups and downs and attitude adjust⁃ ment based on all-water hydraulic has many advantages such as compact structure, convenient regulation, energy saving and environmen⁃ tal protection, etc. The research results laid theoretical foundation for the subsequent development of sinking floating and attitude regula⁃ tion system. © 2022 by the Author(s).
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页码：239 / 247
页数：8
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