管外爬行机器人结构设计分析研究

Analysis and research on structure design of pipe crawling robot

文章结合实际情况对管外爬行机器人相关机构进行设计,并且使用ANSYS对主要受力机构进行相关静力学分析及模态分析。表明机器人整体剪刀型结构设计稳定可靠、简单方便,能够满足相关要求。根据对夹紧杆静力学分析,表明其总变形量、等效应力均满足设计要求。根据对驱动机构的模态分析,表明变形多发生在驱动轮两端边缘,安装时要尽量使管道接近V型轮内部,且驱动电机工作频率应小于1 660.2 Hz,以免发生共振。

In this paper,the relevant mechanism of the crawling robot outside the pipe is designed according to the actual situation,and the static analysis and modal analysis of the main stressed mechanism are carried out by ANSYS.The results show that the overall scissors structure design of the robot is stable,reliable,simple and convenient,and can meet the relevant requirements.According to the static analysis of the clamping rod,it shows that its total deformation and equivalent stress meet the design requirements.According to the modal analysis of the driving mechanism,it shows that the deformation mostly occurs at the edges of both ends of the driving wheel.During installation,the pipeline should be as close as possible to the inside of the V-shaped wheel,and the working frequency of the driving motor should be less than 1660􀆰2 Hz to avoid resonance.