炮管擦洗机器人结构设计及其力学性能分析
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南京理工大学

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TP24??

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Structure Design and Mechanical Property Analysis of Gun Barrel Cleaning Robot
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Nanjing University of Science and Technology

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    摘要:

    为有效清洗不同管径炮管内部火药残渣,设计一款具有可调节式变径移动机构的炮管擦洗机器人,并对其在管道内受力进行力学性能分析。针对所需功能要求及性能指标,确定机器人的工作原理及控制方案;对机器人的驱动机构、行走机构及清洗刷进行了设计;基于达朗贝尔原理对机器人在管道内所受作用力进行了力学建模;通过仿真对清洗刷阻力、行走机构防滑与张紧及机器人驱动力进行分析。仿真结果表明,炮管擦洗机器人能够在管径为104mm到155mm范围内的无膛线炮管稳定作业,设计方案具备可行性。

    Abstract:

    In order to effectively clean the residual propellant inside gun barrels with different diameters, a gun barrel cleaning robot with an adjustable variable-diameter moving mechanism is designed, and the mechanical performance analysis of its force inside the pipeline is conducted. Based on the required functional requirements and performance indicators, the working principle and control scheme of the robot are determined. The driving mechanism, walking mechanism, and cleaning brush of the robot are designed. Based on the D"Alembert"s principle, a mechanical model is established to analyze the forces exerted on the robot within the pipeline. The resistance of the cleaning brush, anti-skid and tensioning of the walking mechanism, and driving force of the robot are analyzed through simulation. The simulation results show that the gun barrel cleaning robot can operate stably within the range of 104mm to 155mm diameter smoothbore gun barrels, and the design scheme is feasible.

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历史
  • 收稿日期:2023-11-06
  • 最后修改日期:2023-11-06
  • 录用日期:2023-11-15
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