Guohua Cui, Haimiao Wu, Kangkang Cui, and Dan Zhang
Prestressed concrete cylinder pipe, pipe port-grinding robot, Hertz contact, grinding depth and pre-pressure model, test and simulation
Based on the design requirements for prestressed concrete cylinder pipe port-grinding equipment, a self-propelled, a kind of high-efficiency port-grinding robot was innovatively designed. A prepressure model of the robot in the non-slip state during the grinding process was developed, and the finite-element simulation analysis of the robot was completed to further verify the reliability of the robot during grinding process. A grinding depth model was established based on Hertz contact and removal profile theory. The relationships between the grinding depth and the grinding motor power, grinding motor rotation speed, rotation speed of the drive motor, and grinding wheel radius were studied, and field grinding tests were performed. The grinding test results showed that grinding depth increases with increasing grinding motor power and decreases with increasing grinding motor speed, driving motor speed, and grinding wheel radius. The test results were used to verify the accuracy of the grinding depth prediction model. Through finite-element simulation analysis of the pipe, the influence of the port-grinding depth on the port strength is further verified. The analysis results lay the foundation for improving the grinding accuracy and grinding depth reliability of a grinding robot.
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