管道外壁爬行机器人设计与实验  

Design and Experiment of Crawling Robot on Outer Wall of Pipe

作　　者：端木希睿 郑华栋 刘晓丽 陈鹿民 DUAN MU Xi-rui;ZHENG Hua-dong;LIU Xiao-li;CHEN Lu-min(Mechanical and Electrical Engineering,Zhengzhou University of Light Industry,He’nan Zhengzhou 450002,China)

机构地区：[1]郑州轻工业大学机电工程学院,河南郑州450002

出　　处：《机械设计与制造》2023年第11期194-198,共5页Machinery Design & Manufacture

基　　金：河南省高等学校重点科研项目(21A460031)。

摘　　要：以石油输送管道焊接作业需求,提出一种用于管道外壁爬行的新型轮式机器人行走机构,能够躲避管道下方支撑柱、管道过弯。采用水平布置的全向轮和预紧弹簧组成的悬挂机构,过弯时弹簧适应弯道轮廓;机器人几何中心竖直安装了全向轮,行走时进行动态姿态调整。根据三维模型制作了物理实验样机,通过手动单轴电机控制实验证明了结构的可行性,同时得出机器人通过管道弯道的条件,即行走速度保持在0.4m/s以上,通过惯性越过焊缝,并修正碰撞后姿态,几何中心全向轮持续转动保持平衡。仿真分析了机器人全向轮和焊缝碰撞后的姿态及补偿修正问题,构件模型验证了实验中提高爬行速度机器人通过焊缝现象。According to the welding operation requirements of petroleum transportation pipelines,a new wheeled robot walking mechanism for crawling on the outer wall of the pipeline is proposed,which can avoid the supporting column under the pipeline and the pipeline from bending.A suspension mechanism composed of horizontally arranged omnidirectional wheels and pre-tensioned springs is adopted.The springs adapt to the contour of the curve when cornering;the omnidirectional wheels are installed vertically in the geometric center of the robot,and the dynamic attitude adjustment is carried out when walking.A physical experimental prototype was made based on the three-dimensional model,and the feasibility of the structure was proved through manual single-axis motor control experiments.At the same time,the conditions for the robot to pass through the pipe curve were obtained,that is,the walking speed was maintained above 0.4m/s,and the weld passed through inertia,and correct the posture after the collision,the geometric center omnidirectional wheel continues to rotate to maintain balance.The simulation analyzes the posture compensation correction problem about robot after the collision between the omnidirectional wheel and the welding seam and.The component model verifies the phenomenon of increasing the crawling speed of the robot through the welding seam in the experiment.

关 键 词：管道机器人 轮式机器人 全向轮 外壁机器人 外管道爬行 

分 类 号：TH16[机械工程—机械制造及自动化]