多节式管道机器人的结构设计与分析  

Structural design and analysis of multi-segment pipeline robot

作　　者：李滔 袁锐波[1] 袁萌柯 梁松炜 覃学巨 韩锡镇 LI Tao;YUAN Ruibo;YUAN Mengke;LIANG Songwei;QIN Xueju;HAN Xizhen(School of Mechanical and Electrical Engineering,Kunming University of Science and Technology,Kunming 650093,China)

机构地区：[1]昆明理工大学机电工程学院,昆明650093

出　　处：《重庆理工大学学报(自然科学)》2025年第1期163-170,共8页Journal of Chongqing University of Technology:Natural Science

基　　金：云南省重大科技专项计划项目(202202AC080008);中泰国际技术转移中心项目(GHJD-2022001)。

摘　　要：为了提高管道机器人行走的安全性以及弯管的通过性,提升机器人对管道内壁清洁的效率。基于流体力学理论和Adams仿真实验设计了一种全新的管道机器人。解决了传统管道机器人的运动方式、适应管径和清洗结构等功能结合在一起互相影响的问题。根据管道的直径及环境,得出了管道机器人的性能指标。利用SolidWorks建立模型,根据管道机器人在管道内运行情况,分析管道机器人在管道的姿态角、阻力、摩擦力等,得出机器人在姿态角为0°时,牵引力最大为198.8 N,分析管道机器人最大的越障高度为7.8 mm。通过Adams软件对管道机器人通过L型弯管进行实验。结果表明:多节式管道机器人设计合理,在相关几何约束以及运动约束条件下,机器人能够在直管与L形弯管中正常行走。To improve the robotic cleaning efficiency,the safety of robotic operation and its passability at the bending pipe,we design a new pipeline robot based on fluid mechanics theory and Adams simulation experiment.It integrates the functions of motion mode,adaptation of pipe diameter and cleaning structure and addresses the problem of the traditional pipeline robots.First,based on the diameter and environment of the pipeline,the performance index of the pipeline robot is obtained.Models are built by SolidWorks and then the attitude angle,resistance and friction of the pipeline robot in the pipeline are analyzed according to the operation of the pipeline robot in the pipeline.Finally,the maximum traction force is 198.8 N and the maximum obstacle height of the pipeline robot is 7.8 mm when the attitude angle is 0°.Finally,Adams software is employed to test the pipeline robot through L-shaped pipe bending.Our results show the multi-section pipeline robot has a superior design and works with great ease in the straight pipe and L-shaped bend pipe under the relevant geometric constraints and motion constraints.

关 键 词：管道机器人 结构设计 运动分析 通过性分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]