空间管道检测机器人系统设计与试验  

Design and Experiment of Pipeline Inspection Robot System

作　　者：冯甚尧 黄强[1] 王翔 李辉[1] 张兰涛 田野[1] 金玮玮 王宇轩 纪伟业 FENG Shenyao;HUANG Qiang;WANG Xiang;LI Hui;ZHANG Lantao;TIAN Ye;JIN Weiwei;WANG Yuxuan;JI Weiye(Beijing Institute of Technology of Mechatronicol Engineering,Beijing 100081,China;Beijing Institute of Spacecraft System Engineering,Beijing 100094,China)

机构地区：[1]北京理工大学机电学院,北京100081 [2]北京空间飞行器总体设计部,北京100094

出　　处：《空间科学与试验学报》2025年第1期46-53,共8页Journal of Space Science and Experiment

基　　金：空间站应用与发展工程空间科学与应用项目(2024HJS003)。

摘　　要：针对航天装备通风管道结构特征,分析其对管道机器人的结构约束和功能需求,分析得出管道机器人需至少具备与管壁的接触力控制能力,具有通过T型管、间隙等非连续管道的稳定支撑和转向能力,可以适应管径变化3个主要能力。针对变管径适应能力需求设计了集成型串联弹性驱动器(SEA)机器人腿部剪叉机构,即具备柔性力控制能力;针对转向需求,设计了摆动关节和滚转关节;针对间隙等障碍,设计了2套串联腿部机构单元模组,通过交替支撑运动实现间隙跨越功能。试验验证了管道机器人通过多种尺寸和类型组合的复杂管道,实现机器人变径比达到2。This paper analyzes the structural characteristics of the ventilation ducts of aerospace equipment,the structural constraints and functional requirements they impose on pipeline robots,and concludes that pipeline robots should at least have the ability to control the contact force with the pipe wall,the ability to provide stable support and steering through non-continuous ducts such as T-shaped pipes and gaps,and the ability to adapt to changes in pipe diameter.An integrated typical Series Elastic Actuator(SEA)robot leg scissor mechanism was designed to meet the demand for variable diameter adaptation.This mechanism has the ability to control flexible force.To address steering needs,swing and roll joints were designed.To overcome obstacles such as gaps,two sets of series leg mechanism modules were designed to achieve gap crossing through alternating support movements.This paper experimentally verified that the robot could navigate through complex pipelines of various sizes and types,achieving a variable diameter ratio of 2.

关 键 词：管道机器人 航天技术 串联弹性驱动器 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]