具有自适应能力管道机器人的设计与运动分析

Design and Motion Analysis of an In-pipe Robot with Adaptability to Pipe Diameters

提出并研制一种基于自适应移动机构的管内探查机器人。通过对机器人传动机构的设计,实现了在不增加驱动电动机数量的前提下,机器人具有适应不同管道直径的能力。机器人的传动机构能够在管道直径改变时,自动地改变行走部件的输出形式以克服障碍,完成越障任务。在没有应用链式多节构型的情况下,机器人配备一个驱动电动机就能够完成越障任务,改善了传统螺旋驱动式机器人越障能力不高的问题,同时也提高了对驱动电动机的使用效率。为了分析试验中发现的机器人保持架自转现象,对机器人进行运动分析,并由分析结果对相关部分进行改进。试验结果表明,该机器人能够在内径为190 mm和180 mm的管道中行进,并能够顺利通过两节管道间形成的同心台阶障碍,验证了自适应移动机构的行走能力。

For the purpose of pipe inspection, an adaptive mobile mechanism is proposed and a robot based on this mechanism is designed and developed. Due to the unique transmission mechanism the robot has the adaptability to the change of pipe diameters, while number of the driving actuator does not increase. When the robot encounters a step, the adaptive mobile mechanism of the robot will change its working mode to surmount the obstacle. Compared to classical screw-driven robots, this robot does not employ the link-type configuration, but only uses one actuator to solve the low capability of surmounting obstacle. The observed rotation problem of the supporting parts is solved by the kinematical analysis of the robot. Basic experiments are performed to testify the adaptability and efficiency of the robot.