仿尺蠖式气压驱动管道清洁机器人的设计

Design of Inchworm-like Pneumatic Driving Pipe Cleaning Robot

设计了一种用于管道清洁的气压驱动机器人,机器人由清洁作业单元、纵向驱动单元、横向支撑单元和气压系统四部分组成。清洁作业单元利用气压马达驱动合金刀头旋转,清洁管道内壁;纵向驱动单元由两套相同的驱动模块构成,两套相同的驱动模块通过万向虎克铰连接,带动整个机器人沿管道内壁运动;横向支撑单元通过滑轮与管道内壁接触,为清洁作业单元和纵向驱动单元提供支撑力;气压系统为整个机器人的工作提供动力源和控制信号。提出了机器人的仿尺蠖式运动方式,整套机器人机构简单、设计可靠,可以实现远距离、复杂工况的管道内壁的清洁工作。

A pneumatic driving robot is developed for pipe cleaning purpose. The robot is composed of the cleaning unit, the longitudinal driving unit, the lateral supporting unit, and the pneumatic unit. The cleaning unit uses a pneumatic motor to drive the alloy segment for cleaning the pipe. The longitudinal driving unit consists two identical models, linked by a universal Hooke hinge connection and it pulls the whole robot forwards. The lateral supporting unit touches the inner part of the pipe through pulleys and supplies supporting force for the cleaning unit and longi- tudinal driving unit. The pneumatic unit provides power and control signals. The inch-worm like moving method is propounded for the cleaning robot. The whole cleaning robot is simple and reliable, and it can realize cleaning du- long and complex pipes.