管道壁厚检测外壁行走机器人设计及仿真  

Design and Simulation of Pipe Wall Thickness Detection Outer Surface Walking Robot

作　　者：廖文才 金浩哲[2] 赵俊豪 何杰 安浩坤 Liao Wencai;Jin Haozhe;Zhao Junhao;He Jie;An Haokun(Qixin Honor School,Zhejiang Sci-Tech University,Hangzhou 310018,China;School of Mechanical Engineering,Zhejiang Sci-Tech University,Hangzhou 310018,China)

机构地区：[1]浙江理工大学启新学院,杭州310018 [2]浙江理工大学机械工程学院,杭州310018

出　　处：《机电工程技术》2023年第7期39-45,共7页Mechanical & Electrical Engineering Technology

基　　金：浙江省“十四五”研究生教育改革项目(syjsjg2023141);浙江省“十四五”本科教学改革项目(jg20220190);浙江理工大学研究生教育教学改革研究项目(YJG-M202111);浙江理工大学教育教学改革研究项目(zstujgjk202106)。

摘　　要：管道运输时,由于物料冲蚀管壁、外部灾害等原因,容易导致管壁减薄和物料泄漏,管道壁厚检测必不可少。为减少管道检测带来的停工停产,设计了一种小径管道外壁爬行的检测机器人,可在管道正常工作状态下进行检测。机器人由紧固机构、行走机构和电路控制3部分组成。紧固机构由紧固轮、连杆和扭转弹簧组成,建立了扭转弹簧的预紧力矩静力学模型以调节预紧力矩适用机器人稳定;行走机构由蜗轮蜗杆和直齿轮两种传动方式,以及直流无刷电机和驱动轮组成,通过传动和驱动效率得出合适的电机功率参数;之后通过ADAMS软件对机器人在水平管道和竖直管道的运动进行仿真,并添加预紧力矩模型结果,而仿真结果表明,机器人能在外径为40、50、60 mm的管外稳定行走;电路控制由STM32F103C8T6主控芯片和电机驱动电路等部分组成,并设计出适用于机器人的控制流程图。During pipeline transportation,pipe wall thinning and material leakage occur due to material erosion,external disasters and other reasons,and pipeline wall thickness detection is indispensable.In order to reduce the shutdown caused by pipeline inspection,an inspection robot suitable for crawling on the outer wall of small diameter pipeline is designed,which can inspect the pipeline while it is under normal working condition.The robot is composed of fastening mechanism,walking mechanism and circuit control.The fastening mechanism is composed of a fastening wheel,a connecting rod and a torsion spring.A static model of the preload torque of the torsion spring is established to adjust the preload torque for the stability of the robot;The walking mechanism is composed of worm gear and spur gear,brushless DC motor and driving wheel.Appropriate motor power parameters are obtained through transmission and driving efficiency;Then,the motion of the robot in the horizontal and vertical pipes is simulated by ADAMS software,and the preload model results are added.The simulation results show that the robot can walk stably outside the pipe with the outer diameter of 40,50,60 mm;The circuit control is composed of STM32F103C8T6 main control chip and motor drive circuit,and the control flow chart for robot is designed.

关 键 词：管外爬行 静力学分析 三维建模 ADAMS 运动学仿真 STM32F103C8T6 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]