摘要
针对管道机器人难以检测打磨管内缺陷且通过性差的问题,设计一种自适应管道内壁检测打磨机器人,研究其在直管、弯管以及障碍管中的通过性能。提出管道机器人的结构方案,分析其行走驱动装置及作业装置特点;建立机器人的运动学模型,结合结构在管道内的受力,对机器人在不同管道内运动的受力状态、几何约束与运动特性进行分析;运用ADAMS仿真软件和整体化仿真方法,对机器人在管道中的通过性能进行仿真分析。结果表明:该机器人可以通过水平直管、弯管和内含10 mm高环形障碍的管道,但机身速度、压力和车轮的接触力存在一定波动;在通过弯管时,采用内外车轮差速、外扩变径机构,可降低内耗、增加贴合力。
In order to solve the problem that pipe robot is difficult to detect defects in pipe and has poor passability,an adaptive pipe robot for inspecting and polishing pipe inner wall was designed,and its passability in straight pipe,bend pipe and obstacle pipe was studied.The structure scheme of the pipeline robot was proposed,and the characteristics of its driving device and operating device were analyzed;the kinematics model of the robot was established,and the mechanical state,geometric constraint and motion character⁃istics of the robot moving in different pipes were analyzed in combination with the force of the structure in the pipeline;by using AD⁃AMS simulation software and integrated simulation method,the passability of the robot in the pipeline was simulated and analyzed.The results show that the robot can pass through horizontal straight pipe,bend pipe and pipe with 10 mm high annular barrier,but the speed,pressure and contact force of the wheel fluctuate to some degree;when passing through the bend pipe,the differential speed of the inside and outside wheel and the outside expanding diameter reducing mechanism are adopted to reduce the internal consumption and increase the adhesion force.
作者
刘芳华
孙威
LIU Fanghua;SUN Wei(School of Mechanical Engineering,Jiangsu University of Science and Technology,Zhenjiang Jiangsu 212003,China)
出处
《机床与液压》
北大核心
2021年第21期15-21,共7页
Machine Tool & Hydraulics
基金
国家自然科学基金青年科学基金项目(51705217)。
