管道清洗机器人凸轮机构设计与分析

Design and Simulation of Cam Mechanism in Cleaning-robot for Pipe Inner Surface

为了解决输水管道难以清洗的问题,设计了一种新型自取能管道清洗机器人。详细阐述了清洗机器人内部结构与工作原理,并给出机器人在清洗液作用下的能量转换方程。分析机器人内部凸轮推杆的工作规律,确定了凸轮的工作廓线方程。针对凸轮廓线分配不合理导致机器人产生的“失控滑行”问题,提出了解决方案:避免两侧支撑脚出现“最大间隙”,同时合理控制支撑脚工作的间隔时间。为此,得到了合理的凸轮参数关系以及工作间隔时间模型。为了验证所设计的凸轮在工作时是否满足使用要求,采用动力学分析软件建立了虚拟样机模型,并进行动力学仿真分析,结果表明在所求得的参数下,机器人支撑脚不会出现“最大间隙”的问题,其工作间隔时间短,仅占机器人一个工作周期的14,机器人不会出现失稳的情况。

In this paper,a new kind of cleaning-robot is presented,which is self-activated for pipe inner surface.Its internal structure and working principle are described and the energy conversion equation between the cleaning fluid and the robot is given.The working regulation of the cam is analyzed to get the suitable cam profile equation.In order to solve the problem of uncontrolled slide due to unreasonable design of cam profile and get the related parameter equation,the maximum distance of supporters needs to be avoided and the working interval should be arranged reasonably.The dynamical simulation result shows that the working interval of the robot is a quarter of the working circle under the given parameters and the robot can work steadily by the premise of eliminating the maximum distance.