气动柔性细长管道机器人的结构设计及特性分析  

Structure Design and Characteristic Analysis of Pneumatic Flexible and Slender Pipeline Robot

作　　者：王伟进 严鲁涛 李海源 WANG Wei-jin;YAN Lu-tao;LI Hai-yuan(School of Modern Post(School of Automation),Beijing University of Posts and Telecommunications,Beijing 100876)

机构地区：[1]北京邮电大学现代邮政学院(自动化学院),北京100876

出　　处：《液压与气动》2023年第7期124-130,共7页Chinese Hydraulics & Pneumatics

基　　金：北京市科学技术委员会资助(Z221100007422110)。

摘　　要：为了解决小直径管道的探测问题,提高管道机器人的适用性,对气动柔性细长机器人进行了深入的分析和研究。通过对机器人在管道内的受力分析,建立机器人的力学方程;对机器人的拐弯特性进行分析,得到机器人的拐弯半径方程;针对机器人需要的负载,进行力学分析,得到机器人的负载方程。设计了一种气动柔性细长机器人,搭建管道实验环境进行机器人的摩擦力实验和拐弯实验;搭建负载实验环境进行负载实验。测试值与理论分析基本一致,说明了气动柔性细长管道机器人在小直径管道内具有优秀的拐弯特性与负载特性。In order to solve the problem of detecting small diameter pipeline and improve the applicability of pipeline robot,the pneumatic flexible slender robot is analyzed and researched deeply.The mechanical equation of the robot is established by analyzing the force of the robot in the pipeline.The turning radius equation of robot is obtained by analyzing the turning characteristics of robot.According to the load required by the robot,the mechanical analysis is carried out to obtain the load equation of the robot.A pneumatic flexible slender robot is designed,and the experimental environment of pipeline is built to carry out the experiments of friction force and turning;The load test environment is built for load test.and the test values are basically consistent with the theoretical analysis,It shows that the pneumatic flexible slender pipe robot has excellent turning characteristics and load characteristics in small diameter pipe.

关 键 词：气动 管道机器人 蠕动 结构 建模 

分 类 号：TH138[机械工程—机械制造及自动化] TP242.6[自动化与计算机技术—检测技术与自动化装置]