摘要
针对现有管道机器人越障能力差、机械结构复杂、不便于控制操作和适应管径尺寸单一等诸多问题,本文设计了一款具有主动适应功能的履带式管道机器人。利用SolidWorks软件对该机器人进行三维数字化设计,建立了三维模型,并将该机器人模型导入Adams中,建立仿真模型。仿真结果表明,当倾斜度为0°,姿态角在0～360°范围变化,管径在200～300mm范围内变化时,随着姿态角的变大,单个履带轮所需螺旋机构驱动力呈现抛物线形曲线变化,最小值为255.22N,最大值为296.89N,经过理论计算,当管径和倾斜度固定不变,不管姿态角如何变化,螺旋机构轴向总驱动力都是828.17N,不会发生变化。但随着管径的增大,螺旋机构轴向总驱动力会逐渐减小,最大值为939.23N,最小值为494.25N,这是因为管径变大,主动曲柄与管道轴向夹角随之变大,虽然径向方向支撑力变大,但轴向方向分力减小的更多,所以合力总体减小。该研究数据结果为其以后的实验研究奠定了理论基础。
In view of the problems of existing pipeline robot, such as obstacle climbing capability being not strong, mechanical structure being too complex and wneasy to control operation and adapt to the pipe diameter being too single, this paper designed a crawler pipe robot with active adaptation function. Using the Software SolidWorks 3D digital design of the robot, a three-dimensional model is set up and the robot model is imported into Adams, a sim- ulation model is established. Simulation results show that, when the inclination of 0°, attitude angle changes in the range of 0 to 360° diameter ranging from 200 to 300 mm within the scope of the changes, with the attitude of, a single shoe Belt wheel for screw mechanism driving force show a parabolic curve, minimum value for 255.22 N, the maximum value for 296.89 N. Through theoretical calculations, when the diameter and the inclination of the fixed, regardless of attitude angle change, the spiral axial total driving force is 828.17 N, remaining unchanged. But with the increase of the diameter, the spiral axial total driving force will gradually decrease, the maximum val- ue for 939.23 N and minimum value for 494.25 N. This is because of the big diameter, the driving crank and pipe- line axial angle becomes larger, while the radial direction supporting force becomes larger, but the axis direction force decreases much, and so the overall force decreases. The research results lay a theoretical foundation for the study of the future.
出处
《青岛大学学报（工程技术版）》
CAS
2016年第2期37-42,共6页
Journal of Qingdao University(Engineering & Technology Edition)
关键词
履带式
管道机器人
主动适应
仿真
动力学分析
crawler type
pipeline robot
active adaptation
simulation
dynamic analysis
