基于ADAMS螺旋驱动行走机构的弯管通过性能研究  

Study on the elbow passing performance of spiral driving traveling mechanism based on ADAMS

作　　者：闫宏伟[1] 崔子梓 焦彪彪 马建强 汪洋 

机构地区：[1]中北大学机械工程学院,山西太原030051

出　　处：《机械设计》2017年第12期32-36,共5页Journal of Machine Design

基　　金：山西省重点研发计划社会发展资助项目(201603D321117)

摘　　要：管道机器人广泛应用于管道检测及封堵维修过程中,通过设计管道行走机构提高其在管道中的自适应能力,并提出制约管内螺旋行走机构弯管通过性能的核心要素,对管道检测与维护具有至关重要的作用。因此,利用ADAMS软件,从动力学角度出发,对行走机构中的弯管通过性进行仿真研究,并进一步分析驱动轮的螺旋角和直径如何影响行走机构的驱动力及其行进速度,并根据仿真结果得出驱动轮的螺旋角和直径分别对行走机构的驱动力和行进速度有截然不同的影响规律;其中管道行走机构的驱动力与驱动轮螺旋角和直径均呈同方向变化;而行走机构的行进速度却随着螺旋角的增大而减小,随着驱动轮直径的增大呈现出先增大后减小的趋势。通过分析得出管道行走机构驱动轮的螺旋倾角和直径的最佳参数。Pipeline robots are widely used in pipeline inspection and blocking maintenance process. The pipeline self-adaptability is improved by designing piping traveling mechanism and proposes core elements of elbow passing performance of the spiral traveling mechanism, they are very important for the pipeline detection and maintenance. Based on the ADAMS software and in view of dynamic, the traveling-capability in elbow of the traveling mechanism is simulated, the impact of drive wheel helix angle and its diameter to traveling mechanism driving force and traveling speed. According to the results obtained from the simulation results are summarized as follows： the helix angle and diameter of the drive wheel respectively have different influence on the driving force and the traveling speed of the travel mechanism. The driving force of the pipeline traveling mechanism changes in the same direction with the change of the helix angle and diameter of the driving wheel. But, the traveling speed of the traveling mechanism decreases with the increase of the helix angle, increases with the increase of the diameter of the drive wheel increase first and then decrease. The optimal parameters of the helical angle and diameter of the drive wheel of the pipe walking mechanism are obtained by analysis.

关 键 词：螺旋驱动 自适应机构 动力学分析 弯管通过性 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]