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

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。

Reliability analysis for pressing force of prestressed concrete cylinder pipe port grinding robot

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.