介质流压差驱动式管道机器人的驱动、调速原理分析及结构设计

Principle analysis and structure design of the pipeline robot driven by fluid medium pressure difference

提出了一种利用管道所传输的流体介质本身的能量完成驱动和调速的管道机器人.该机器人完全浸润在充满流动介质的管道内,利用流体自身压力以及流体速度的能量获得驱动力,机器人由管内流体的流动推进[1].研究中发现机器人行走时主要需要克服惯性质量以及与管壁之间的摩擦阻力的影响,而对于不同的流体介质及应用场合,机器人需要根据工作要求自动进行速度调节,通过对机器人的结构和尺寸进行合理设计,根据管道内的流体力学条件,设计出速度控制装置,实现机器人速度可调.

A pipeline robot,driven by the energy of fluid medium itself in the pipeline,is put forward. The robot is totally soaked in the fluid medium in pipeline and driven by the press and velocity energy of fluid medium itself. It is discovered that the robot needs to overcome the gravity and the friction resistance with the pipe wall to move, and for different mediums and applying situation, its moving velocity needs to be adjusted automatically. According to the condition of the hydrodynamics within the pipeline, the reasonable design of the robot structure is worked out and a velocity control device is implemented to adjust its moving velocity automatically.