一种多方式检测的管道机器人设计及仿真  

Design and simulation of pipeline robot for multi-mode inspection

作　　者：窦传新 翟世荣 赵雷雷[1] DOU Chuanxin;ZHAI Shirong;ZHAO Leilei(School of Transportation and Vehicle Engineering,Shandong University of Technology,Zibo 255049,China;School of Agricultural Engineering and Food Science,Shandong University of Technology,Zibo 255049,China)

机构地区：[1]山东理工大学交通与车辆工程学院,山东淄博255049 [2]山东理工大学农业工程与食品科学学院,山东淄博255049

出　　处：《山东理工大学学报(自然科学版)》2025年第3期64-69,共6页Journal of Shandong University of Technology:Natural Science Edition

基　　金：山东省重点扶持区域引进急需紧缺人才项目(2022-30)。

摘　　要：为提高检测和维修管道效率、降低人工作业危险性,基于管道检测的复杂情况,设计了一种可适应200~300 mm内径管道检测的管道机器人,在其驱动轮中设置了防倒退机构,并设置了转向机构引导其转向;针对单一检测的检测结果不准确的问题,在检测机构中设置了摄像头采集图像检测、激光检测、电磁超声检测3种检测方式共同对管道进行缺陷检测;对管道机器人进行受力分析,并对关键部件进行有限元仿真分析,验证了关键部件结构的可靠性。在SolidWorks软件环境下对管道机器人进行运动仿真,分析管道机器人在内径为300 mm的管道中实现转向功能的可行性及结构的可靠性,结果表明,在临界压力下管道机器人的部件强度足够,能在内径为300 mm的管道中实现转向功能且运行平稳。In order to improve the efficiency of pipeline inspection and maintenance while minimizing the risk of manual operation,a pipeline robot for use in pipelines of internal diameter ranging from 200 mm to 300 mm was designed considering the complexity of pipeline detection.The robot is equipped with an anti-retrofitting mechanism in its driving wheel and a steering mechanism to guide the steering.To address the issues of inaccurate detection results from single detection method,three detection methods including camera image acquisition detection,laser detection and electromagnetic ultrasonic detection were set up to jointly inspect the pipeline defects.On this basis,the force analysis of the pipeline robot is carried out,and the finite element simulation analysis of the key components is carried out to verify the reliability of the key components.Finally,the motion simulation analysis is carried out on the pipeline with an inner diameter of 300 mm under SolidWorks software environment to evaluate the feasibility and structural reliability of the steering function of the pipeline robot.The results show that under the critical pressure,the robot′s component have sufficient strength to enable smooth steering and running in the pipeline with an inner diameter of 300 mm.

关 键 词：管道机器人 转向机构 变径机构 仿真分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]