管道机器人运动学分析与变径机构仿真  

Kinematics Analysis and Variable Diameter Mechanism Simulation of Pipeline Robot

作　　者：史继新[1,2] 刘芙蓉 胡啸[3] 袁显宝 陈保家 李响[1,2] SHI Jixin;LIU Furong;HU Xiao;YUAN Xianbao;CHEN Baojia;LI Xiang(China Three Gorges University Hubei Key Laboratory of Hydroelectric Machinery Design & Maintenance, Yichang 443002, China;China Three Gorges University College of Mechanical and Power Engineering, Yichang 443002, China;China Nuclear Power Operation Technology Co., Ltd., Wuhan 430223, China)

机构地区：[1]三峡大学湖北省水电机械设备设计与维护重点实验室,湖北宜昌443002 [2]三峡大学机械与动力学院,湖北宜昌443002 [3]中核武汉核电运行技术股份有限公司,武汉430223

出　　处：《机械工程师》2019年第4期14-16,共3页Mechanical Engineer

基　　金：国家自然科学基金(11805112);湖北省教育厅科学技术研究计划重点项目(D20181206);湖北省水电机械设备设计与维护重点实验室开放基金项目(2016KJX15

摘　　要：基于对核电站压力容器和主管道接管内部检查的需要,研发了一种多履带可变径式管道检查机器人。分析机器人四种不同的运动情况,得出机器人履带轮角速度和机器人在管道内旋转速度及行走线速度的函数,建立了机器人在管道内的运动学模型。针对机器人可变径机构,建立力学模型,得出变径机构中弹簧的理论数据,并运用Inventor运动仿真分析验证了其合理性。Based on the need for internal inspection of nuclear power plant pressure vessels and main pipelines, a multi-track variable-diameter pipeline inspection robot is developed. The four different motions of the robot are analyzed, and the angular velocity of the robot crawler wheel and the rotation speed of the robot in the pipeline and the traveling linear velocity are obtained. The kinematics model of the robot in the pipeline is established. For the robot variable diameter mechanism, the mechanical model is established, the theoretical data of the spring in the variable diameter mechanism is calculated, and the rationality is verified by Inventor motion simulation analysis.

关 键 词：管道机器人 运动学模型 变径机构 Inventor运动仿真 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置] TH122[自动化与计算机技术—控制科学与工程]