矩形通风管道清洁机器人机构设计与优化

Mechanism Design and Optimization of Rectangular Ventilation Pipe Cleaning Robot

针对矩形通风管道的清洁需求,设计一种矩形通风管道清洁机器人,其主要由驱动机构、变距机构与清灰机构三部分组成。根据机器人在竖直管道中的工作条件,构建静力学平衡方程,确定管壁施加在机器人轮子上的最小压力;对变距机构进行力学分析,建立变距机构相关数学模型,确定电机扭矩与轮子所受压力之间的关系;通过ADAMS对变距机构进行参数化建模,将各连杆杆长作为设计变量,考虑几何约束条件,将滑块与地面间移动副所受合力最小为目标函数,使用ADAMS内置算法OPTDES-GRG对变距机构进行优化分析。结果表明:优化后的连杆长度使机器人可用于高度在220~293 mm之间的管道,驱动力矩较优化前减少了45.2%。

Aiming at the cleaning demand of rectangular ventilation pipeline,a cleaning robot for rectangular ventilation pipeline was designed,which was mainly composed of driving mechanism,variable distance mechanism and cleaning mechanism.According to the working conditions of the robot in the vertical pipeline,the static equilibrium equation was constructed to determine the minimum pressure exerted on the robot wheel by the pipe wall.Through the mechanical analysis of the variable distance mechanism,the relevant mathematical model of the variable distance mechanism was established to determine the relationship between the motor torque and the pressure on the wheel.The parametric modeling of variable distance mechanism was carried out by ADAMS,the length of each link rod was taken as design variable,and the geometric constraints were considered.Taking the minimum force of the sliding pair between the slider and the ground as the objective function,the ADAMS built-in algorithm OPTDES-GRG was used to optimize and analyze the variable distance mechanism.The results show that the optimized length of the link rod enables the robot to be used for pipelines with a height of 220-293 mm,and the driving torque is reduced by 45.2%compared with that before optimization.