一种内螺旋管道机器人  

An Inner Spiral In-pipe Robot

作　　者：梁亮[1] 江华 唐勇[1] 陈柏[3] 段想平 

机构地区：[1]长沙学院,长沙410022 [2]华鹏集团有限公司省级技术中心,扬中212211 [3]南京航空航天大学江苏省精密与微细制造技术重点实验室,南京210016

出　　处：《中国机械工程》2014年第24期3289-3294,共6页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(51075209);湖南省"十二五"重点建设学科资助项目;湖南省自然科学基金资助项目(2015JJ2017;51075209);湖南省教育厅优秀青年基金资助项目(13B141)

摘　　要：提出了一种内螺旋管道机器人(简称内螺旋机器人)。设计了该机器人的结构,建立了机器人的动力学方程,数值计算了机器人在管道内运行时管道内壁所受的压力、机器人的轴向推进力和液体对机器人的周向阻力矩。结果表明,当驱动为外磁场驱动时,内螺旋机器人轴向推进力和周向阻力矩都会增大,但对管道壁的损伤也会增大。以机器人轴向推进力和能效指标为优化目标,采用正交优化方法得到一组最优的内螺旋槽几何参数。根据内螺旋机器人的工作原理,设计制造了内螺旋驱动样机,该样机在充满201甲基硅油管道中的运行实验证明了内螺旋机器人的可行性。提出的内螺旋机器人表面光滑,能悬浮运行,对管壁的损伤小,可用于人体内腔的微细管道中。A novel inner spiral in-pipe robot was proposed.The structure of the robot was designed,and the dynamics equations of the robot were established.When the robot run in the pipe filled with liquid,the pressure to the pipe wall,the robotic axial thrust force and the robotic circumferential resisting moment were analyzed numerically.The results show that the robot is driven by the external magnetic field,the robotic axial thrust force and the robotic circumferential resisting moment all increase and the damage to the pipe wall is also aggravated.In order to optimize the robotic axial thrust force and the robot energy efficiency index,the orthogonal experimental optimization method was used,and the optimal inner spiral geometric parametrical combination was obtained.According to the working principles of the inner spiral robot,an inner spiral driving device was designed and fabricated,and the running experiments in the pipe full of 201 methyl silicone oil proved the feasibility of the proposed robot.The proposed inner spiral robot has smooth surfaces and can be suspended to run.As the damage to the pipe is small,the robot can be used in tiny human pipes.

关 键 词：管道机器人 内螺旋 计算流体力学 正交优化 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]