一种衬里复合管修形机器人的设计与研究

Design and Research of a Reshaping Robot for the Bi-metal Lined Pipe

针对双金属衬里复合管衬管鼓包失效问题,设计一种衬里复合管修形机器人。通过SolidWorks三维建模软件对各机构零部件进行建模装配。该机器人采用模块化设计理念,由导向、修形、控制以及驱动行走四大模块组成。导向模块采用6爪弹簧自适应机构,可自动适应管道直径的变化。修形工作模块采用4组修形滚子,可通过旋转滚压修复鼓包部位。驱动行走模块采用履带式设计,大幅度增加了机器人在管道内壁行走的附着力,提高运行稳定性。研究结果为建立多功能模块化管道机器人提供参考。

A reshaping robot was designed to solve the problem of bulge for the bi-metal lined pipe.The parts of each mechanism were modeled and assembled by using SolidWorks software.The robot was designed with the modular design concept,which was composed of four modules,such as guiding,shaping,controlling and driving.6-claw spring adaptive mechanism was used to design the guiding module,which could automatically adapt to the change of pipe diameter.4 sets of repair roller were used to design the repair work module,which could repair the drum part by rotating and rolling.The track-type driving walking module was designed,by which the adhesion of the robot to the inner wall of the pipe was greatly increased and the operation stability was improved.The research results provide reference for the construction of multifunctional modular pipeline robots.