直轮驱动式自适应管道机器人通过性能研究

Research on Pipeline Passing Performance of Straight Wheel Driven Adaptive Pipeline Robot

提出一种具有良好越障性能的直轮驱动式自适应管道机器人。首先建立机器人越障的动力学模型,并通过分析得出影响机器人越障的主要因素,然后对机器人通过环形障碍物的状态进行仿真分析,最后搭建实验平台,进行实验验证。研究表明:该机器人能够稳定越过障碍,且满足设计要求;管道机器人的质心会一直保持在管道的中心轴线上,而相应的3个驱动部分的质心会呈120°对称分布管道中心轴线周围,机器人最大越障高度为6mm;越障时,机器人的电机转矩随越障高度的增大而增加,但实际电机转矩始终小于电机最大转矩。直轮驱动式自适应管道检测机器人能在内径(160~180)mm左右的管道中爬行,能够越过不高于6 mm的障碍,对管道检测机器人的设计与研究具有重要的参考价值。

It proposes a straight-wheel drive adaptive pipeline robot with good obstacle crossing performance.Firstly,the dynamic model of robot obstacle surmounting is established,and the main factors that affect the robot obstacle surmounting are obtained through analysis.Then,the performance of the robot through the ring obstacle is simulated,and finally the experimental platform is built for experimental verification.The results show that the robot can cross obstacles stably and meet the design requirements.The centroid of the in-line robot will always be on the central axis of the pipe,and the centroid of the corresponding three driving parts will be 120°.The maximum obstacle height of the robot is 6mm.When crossing obstacles,the motor torque of robot increases with the increase of obstacle height,but the actual motor torque is always less than the maximum motor torque.The straight wheel driven adaptive pipeline inspection robot can crawl in the pipeline with an inner diameter of(160~180)mm,and can cross the obstacles no higher than 6mm.It has important reference value for the design and research of pipeline inspection robot.