具有柔性传动能力的气压驱动微型管道机器人  

Pneumatic-drive Micro In-pipe Robot with Compliant Transmission Ability

作　　者：任立敏[1] 谭益松[1] 殷国成[2] 

机构地区：[1]东北电力大学机械工程学院,吉林吉林132012 [2]大庆石化公司机械厂,黑龙江大庆163711

出　　处：《液压与气动》2016年第8期18-23,共6页Chinese Hydraulics & Pneumatics

基　　金：国家自然科学基金(51405074);吉林省科技厅自然科学基金(20150101030JC);东北电力大学博士科研启动基金(BSJXM-201423)

摘　　要：针对火力发电厂110 MW冷凝器蒸汽回流回路等微型管道的检测和维护问题,研制了一种具备柔性传动能力的气压驱动微型管道机器人,设计了柔性动力传输系统,实现了机器人的驱动源外置和动力的柔性长距离传输。建立了微型管道机器人在直线管道、弯曲管道的运动学分析和驱动力分析模型,为驱动力外置提供了控制依据。在管径为70 mm的复合管道的实验研究表明:该气压驱动微型管道机器人在柔性软轴的作用下,可以有效地获得来自外置动力源的驱动力,能够实现在具有任意曲率半径的微型管道内部行走。A pneumatic-drive micro in-pipe robot with compliant transmission ability is developed for the inspection and maintenance of the steam pipe in the 110 MW power station condenser. A compliant power transmission system is designed, which can realized power source external layout and long-distance compliant transmission of the robot. The kinematics model and driving force model for the micro in-pipe robot in line pipe and bending pipe are estab- lished, which can provided control basis for external power. Experiments in pipe with diameter of 70 mm demon- strated that： the pipe robot could derive power from external power source under the action of compliant steel and it could pass through micro pipes with any diameter. Scale cleaning unit could remove the water furs effectively.

关 键 词：气压驱动 微型管道机器人 钢丝弹簧轴 柔性传动 

分 类 号：TH138[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]