管内机器人管径适应调节机构分析

Characteristics Analysis of a Pipe-Diameter Adapting and Adjusting Mechanism for Pipe Robot

提出了一种管内机器人的管径适应调节机构,介绍了其组成和工作原理,建立了其管径适应性和调节力矩分析的模型,以及越障能力分析模型。分析了调节机构在适应管径变化时的运动学和动力学变化特性,分析了调节力矩的影响因素和确定方法。并给出了算例,数据结果分析表明所提出的模型是正确可行的。样机试验结果也证明了该管径适应调节机构设计理论和方法是正确的。该管径适应调节机构具有刚性调节和柔性调节的特点,以及大拖动力和大的管径调节范围等特点,该机构已成功应用于某排水管道清淤作业机器人中。

A pipe-diameter adapting and adjusting mechanism for pipe robot was presented, and its composing and working principle were introduced, and its models of pipe-diameter adaptability and adjusting torque were established, so did its analysis model of conquering obstacle in pipe. The characteristics of kinematics and dynamics was analyzed when the mechanism adopted pipe-diameter changing, and so did the influence factor of adjusting torque, and the method to determine the value of adjusting torque was given. Examples were presented here, and the results of data analysis showed that the proposed model was correct and feasible. The prototype test results also proved that the theory and design method of pipediameter adapting and adjusting mechanism were correct. The mechanism has characteristics, such as big drag force and bigger range of pipe-diameter adjusting, especially the rigid adjusting and flexible adjusting. The mechanism had been used in robot for work of drainpipe deposit cleaning successfully.