自适应支撑式管道检测机器人的通过性设计

Passing property design of adaptive support pipeline detection robot

针对电力和石油天然气领域中直径为250～350mm管道的检测需求,设计自适应支撑式管道检测机器人,研究其在无障碍弯管与环形台阶障碍管环境下的管道通过性。首先分析管道特点,结合丝杠螺母和弹簧机构设计具有变径自适应能力的机器人行走机构;其次,建立机器人弯管运动学模型及环形台阶障碍动力学模型,进行管内运动的几何约束分析、速度协调分析和动力学分析;然后,在ADAMS中建立虚拟样机仿真平台,对机器人在弯管和环形台阶处的通过性进行仿真研究;最后,搭建机器人管道通过性试验平台进行实验验证。研究结果表明:在无障碍管和障碍管环境下,机器人运行平稳,能顺利通过;在通过弯管时,采用速度协调模型,可减少电机力矩和降低能量消耗;在跨越环形台阶障碍时,机器人电机力矩随台阶高度增大而增加,可通过不高于15 mm的环形台阶障碍。

In order to meet the detection requirements for pipelines with diameter of250?350mm in the field of power,oil and gas,an adaptive support pipeline inspection robot was designed to study the pipeline passing property in barrier free elbow and ring step obstacle pipe.Firstly,the characteristics of the pipeline were analyzed,and the robot walking mechanism with variable diameter adaptive ability was designed with the screw nut and spring mechanism.Secondly,the kinematic model in elbow and the dynamic model in the ring step obstacle of the robot were established.The geometric constraint analysis,velocity coordination analysis and dynamics analysis of the robot in-pipe motion were carried out.Then,the virtual prototype simulation platform was established in ADAMS,and the simulation of the robot’s passing property in the elbow and ring step pipe was carried out.Finally,the robot pipeline test platform was built and passing property was verified by experiments.The results show that the robot passes smoothly through the pipe with and without barrier.When the robot passes through the elbow,the motor torque and the energy consumption are reduced by speed coordination model.When the robot crosses a ring step obstacle,the torque of the robot increases with the increase of the step height,and robot can pass through the ring step obstacle of no more than15mm in height.