摘要
针对目前管道清洗机器人存在的通过性差、结构复杂、适应范围单一的问题,设计一款基于螺旋驱动原理的具有自适应变径的轮式气动管道清洁机器人。该机器人由前部螺旋行走机构、清洗机构、中间动力输送机构、后部支撑行走机构组成,可适应360~440 mm的管道。简述该机器人的整体结构和工作原理;通过建立机器人简化模型,分析机器人在弯管内的通过性;对机器人在垂直管道内的平衡状态进行静力学分析,得到支撑气缸与气动马达的选型参数;通过ADAMS软件模拟机器人运动状态,对机器人在管道内位移轨迹和接触力进行分析,仿真结果表明机器人可顺利通过弯管;最后通过样机试制并进行了行走实验,验证了机器人结构设计的可行性和合理性。
In order to solve the problems of poor passability,complex structure and single adaptive range of pipeline cleaning robot,a wheeled pneumatic pipe cleaning robot with adaptive variable diameter based on screw driving principle was designed.The robot was composed of front spiral walking mechanism,cleaning mechanism,intermediate power conveying mechanism and rear supporting walking mechanism,which could adapt to pipeline with diameter from 360 mm to 440 mm.The overall structure and working principle of the robot were briefly described.Through the establishment of a simplified model of the robot,the passability of the robot in the curved pipe was analyzed.The equilibrium state of the robot in the vertical pipe was statically analyzed,and the selection parameters of the supporting cylinder and pneumatic motor were obtained.The motion state of the robot was simulated by ADAMS software,and the displacement trajectory and contact force of the robot in the pipe were analyzed.The simulation results show that the robot can pass through the curved pipe smoothly.Finally,through the trial production of the prototype and the walking experiment,the feasibility and rationality of the robot structure design are verified.
作者
李惟骞
张晓龙
宋进
张檠
钟珑昕
LI Weiqian;ZHANG Xiaolong;SONG Jing;ZHANG Qing;ZHONG Longxin(Faculty of Mechanical and Electrical Engineering,Kunming University of Science and Technology,Kunming Yunnan 650500,China)
出处
《机床与液压》
北大核心
2024年第17期14-22,共9页
Machine Tool & Hydraulics
关键词
螺旋驱动
管道机器人
可变径轮式
气动控制
screw drive
pipeline robot
variable diameter wheel
pneumatic control
