可变径防侧倾清扫管道机器人结构与通过性能分析  

Structure and Passing Capability Analysis of a Variable Diameter Anti Roll Pipeline Cleaning Robot

作　　者：蒋东升 方天阳 胡姗姗 黄凤珍 胡宗耀 JIANG Dongsheng;FANG Tianyang;HU Shanshan;HUANG Fengzhen;HU Zongyao(School of Mechanical and Electrical Engineering,Anhui Jianzhu University,Hefei Anhui 230061,China)

机构地区：[1]安徽建筑大学机械与电气工程学院,安徽合肥230061

出　　处：《长沙大学学报》2024年第2期41-50,共10页Journal of Changsha University

基　　金：安徽省住房城乡建设科学技术计划项目“小型机器人研制及地下管路检测应用研究”,编号:2022-YF177;安徽省高校省级特色学位点建设项目“机械”,编号:2022tsxwd044;专业服务安徽省十大新兴产业项目“产业‘智改数转’驱动机械类专业面向产出的人才培养机制”,编号:2022sdxx007。

摘　　要：使用很久的管道一般存在破损、腐蚀、老化、堆积异物等问题,针对老化且错综复杂的管道的清理工作,本文提出了一种可在老化的管道内实现异物清理的管道机器人。机器人采用可变径设计,每个驱动装置有单独的驱动系统,外观结构设计可以防止机器人本体发生侧倾。机器人采用履带行走方式,以解决当前机器人在复杂且老化的管道中难以前行的问题。本文首先介绍了管道机器人的整体结构以及在管道中行走的工作原理,然后对管道机器人转弯特性进行分析,最后基于ANSYS软件对关键性部件进行分析,以验证其在管道内的功能以及通过性。Long-used pipelines generally have problems such as breakage,corrosion,aging,and accumulation of foreign objects,etc.For the cleaning of aging and intricate pipelines,this paper proposes a pipeline robot that can realize the cleaning of foreign objects in aging pipelines.The robot adopts variable diameter design,each drive unit has a separate drive system,and the appearance structure design can prevent the robot body from tilting sideways.The robot adopts crawler walking mode to solve the current problem that the robot is difficult to move forward in complex and aging pipes.This article first introduces the overall structure of pipeline robots and the working principle of walking in pipelines,and then analyzes the turning characteristics of the pipeline robot.Finally,the key components are analyzed by ANSYS software to verify their functionality and passing ability within the pipelines.

关 键 词：管道机器人 独立驱动 转弯特性 防侧倾 可变径 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]