一种核管道机器人结构设计与驱动力分析  

Structural design and driving force analysis of the nuclear pipeline robot

作　　者：韩猛[1] 赵峰[1] 桑迪[1] 翟科栋 王鼎[1] 周军[1] 

机构地区：[1]山东大学机械工程学院,山东济南250061

出　　处：《机电工程》2017年第7期696-701,共6页Journal of Mechanical & Electrical Engineering

基　　金：国家自然科学基金资助项目(51375268);山东大学自主创新基金资助项目(2012ZD009)

摘　　要：针对人工方式进行核电管道检测与维护存在效率低的问题,将管道机器人技术应用到核电站管道维护中,代替人工进行现场故障监测、异物探测和清理。设计了直径为300 mm的管道机器人的机械结构,分析了机器人在管道中的受力情况以及驱动特性。同时设计了一种全新的单电机全驱动机构,这种设计使机器人整体结构更为紧凑,提高了机器人行进速度以及驱动负载能力。并利用ADAMS动力学仿真软件对机器人驱动特性进行了研究和分析。结果表明,机器人的驱动能力能够满足实际作业需求,并且其驱动能力与摩擦系数、斜坡度有关;其中驱动力与摩擦系数成正比,即摩擦系数越大机器人的驱动力越大;驱动力与斜坡度成反比,即斜坡度越大驱动力越小。该研究结果可为后续机器人优化设计提供理论依据。Aiming at the problems of the low efficiency of nuclear power pipeline detection and maintenance in artificial way,the pipeline robot technology was applied to plant pipeline maintenance to complete on-site fault monitoring,foreign matter detecting and clearing instead of manual work. The mechanical structure of a 300 mm-diameter pipe robot was designed,and the force situation of the robot in the pipeline and driving characteristics was analyzed. A new kind of all-wheel-drive mechanism with single motor was designed,which makes the overall structure of the pipe robot compact,and improves the speed and driving load capacity of the robot. ADAMS simulation software was used to research and analyze the driving characteristics of the robot. The results indicate that the demand of practical work could be met by the driving ability of the designed robot,and that the driving ability is related to the friction coefficient,slope degree; specifically,the driving force is proportional to the coefficient of friction,that is,the bigger the coefficient of friction,the bigger driving force of the robot; while the driving force is inversely proportional to the slope degree,that is,the bigger the slope,the smaller the driving force. Due to the results,the theoretical basis for subsequent robot optimization design can be provided.

关 键 词：管道机器人 驱动力 ADAMS 结构设计 

分 类 号：TH122[机械工程—机械设计及理论] TP242[自动化与计算机技术—检测技术与自动化装置]