摘要
针对现有管道机器人功能单一、适应性差的问题,设计了自适应多功能智能管道机器人。采用SolidWorks对机器人进行了三维建模,分析了机器人的工作机理,对控制系统进行了研究。采用ANSYS有限元分析软件对支撑结构进行了分析。对变径机构主动轮部分进行了运动学建模,得到了N20电机与管道机器人行进速度的函数关系及N20丝杆电机转速与管道机器人开合灵敏度的函数关系。对机器人外径调节范围和空载行进速度进行了试验,制作了实物样机,经试验测试表明:机器人单节高度为80 mm,质量为0.7 kg,主动轮外径可调节范围为60.16~240.33 mm,空载行进速度为0.21 m/s,主要支撑结构均满足设计要求。该机器人具有结构简单、制造成本低、功能多元、主动适应管径变化的特点,不仅为管道类机器人的创新设计提供了有效解决方案,而且为海洋管道的安全性检测做出了贡献。
Aiming at the problem of single function and poor adaptability of existing pipeline robots,an adaptive multi-functional intelligent pipeline robot is designed.SolidWorks is used to build the 3D model of the robot,analyze the working mechanism of the robot,and study the control system.ANSYS finite element analysis software was used to analyze the support structure.Kinematic modeling of the driving wheel part of the variable diameter mechanism was carried out,and the function relationship between the N20 motor and the moving speed of the pipeline robot was obtained,and the function relationship between the speed of the N20 screw motor and the opening and closing sensitivity of the pipeline robot was obtained.The robot's outer diameter adjustment range and no-load moving speed were tested,and the prototype was made.The test results show that the height of the robot single section is 80 mm,the weight is 0.7 kg,the driving wheel's outer diameter can be adjusted from 60.16 to 240.33 mm,and the no-load moving speed is 0.21 m/s.The main support structure meets the design requirements.The robot has the characteristics of simple structure,low manufacturing cost,multiple functions,and active adaptation to the change of pipe diameter.It provides an effective solution for the innovative design of pipeline robots,and makes a contribution to the safety detection of offshore pipelines.
作者
柳满昌
董成龙
刘静
李红双
LIU Manchang;DONG Chenglong;LIU Jing;LI Hongshuang(College of Electromechanical Engineering,Shenyang Aerospace University,Shenyang 110136)
出处
《机械设计》
CSCD
北大核心
2023年第S02期82-87,共6页
Journal of Machine Design
基金
大学生创新创业计划训练项目(S202210143009)
关键词
管道机器人
模块化设计
试验测试
pipeline robot
modular design
experiment and test
