支撑力可控的内径自适应管道机器人设计与力学分析  

Design and mechanical analysis of self-adaptive inner diameter pipeline robot with controllable supporting force

作　　者：白承栋 刘丽莉 熊然 李特 葛宇航 王永青[1] BAI Chengdong;LIU Lili;XIONG Ran;LI Te;GE Yuhang;WANG Yongqing(Key Laboratory for Precision and Non-traditional Machining Technology of the Ministry of Education,Dalian University of Technology,Dalian 116024,China;Xi’an Aerospace Power Machinery Co.,Ltd.,Xi’an 710025,China)

机构地区：[1]大连理工大学精密与特种加工教育部重点实验室,大连116024 [2]西安航天动力机械有限公司,西安710025

出　　处：《现代制造工程》2022年第12期27-34,共8页Modern Manufacturing Engineering

基　　金：长江学者奖励计划项目(T2017030);大连市青年科技之星项目(2019RQ026)。

摘　　要：针对弱刚性锥形薄壁管道内部的作业需求,设计了一种支撑力可控的内径自适应管道机器人。该管道机器人主要包括气动变径机构和运动机构,在锥形管道内运动时与管道内壁始终保持恒力稳定接触。对管道机器人进行力学分析,得到了3组气动变径机构对车板支撑力的关系和运动机构的最大牵引力。在ADAMS软件中对管道机器人的最大牵引力进行了虚拟样机仿真验证。For the operation requirements inside weakly rigid tapered thin-walled pipes, a self-adaptive inner diameter pipeline robot with controllable supporting force was designed.The pipeline robot mainly includes a pneumatic variable diameter mechanism and a motion mechanism, and it always keeps constant force and stable contact with the inner wall of the pipeline when it moves in the tapered pipeline.The mechanical analysis of the pipeline robot was carried out, and the relationship of the supporting force of the three pneumatic variable diameter mechanism on the vehicle plate and the maximum traction force of the motion mechanism were obtained.The maximum traction force of pipeline robot was verified by virtual prototype simulation in ADAMS software.

关 键 词：支撑力可控 内径自适应 管道机器人 力学分析 

分 类 号：TG156[金属学及工艺—热处理]