管道巡检清理机器人管内运动分析

Motion Analysis of the Inner Pipeline Inspection Cleaning Robot

针对管道清理作业中人工巡检效率低、精度差,管道维修保养麻烦等问题,提出了一种螺旋驱动式管道巡检清理机器人。该机器人通过螺旋驱动方式来确保其在管道内的稳定运行,通过弹簧变径的适径方式适应管径的变化,采用机械清理和高压水射流清理相结合的方法,对管道内的污垢进行清理。通过对机器人驱动轮体进行受力分析,建立了牵引力分析模型、机器人驱动单元直管运动模型;同时采用坐标变换法,分析了机器人的管内运动过程,研究了机器人的运动特性。最后,对机器人的牵引力和在直管中的速度进行了仿真分析和试验验证。结果表明,机器人实际速度为0.075m/s,满足设计指标下的最小牵引力为39N,机器人在通过直管的过程中其速度与驱动轮偏转角度正切值成正相关,仿真分析结果与实际情况基本吻合。该巡检清理机器人的研究对于管道的清理和维护具有一定的参考价值。

Aiming at the low efficiency and poor accuracy of manual inspection in pipeline cleaning operation,and the problems of pipeline maintenance,a spiral drive pipeline inspection and cleaning robot was proposed,which is driven by the spiral drive to ensure stable operation in the pipeline,adapts to the change of pipeline diameter through the adaptable way of spring reducers,and cleans the dirt in the pipeline by the combination of mechanical cleaning and high pressure water jet cleaning.Through the force analysis of the driving wheel body of the robot,the tractive force analysis model and the straight tube motion model of the robot driving unit were established.At the same time,the motion process of the robot in the tube was analyzed by using the coordinate transformation method,and the motion characteristics of the robot were studied.Finally,the traction force and velocity of the robot in the straight pipe were simulated and verified by experiments.The results show that the actual speed of the robot is 0.075 m/s,and the minimum tractive force in compliance with the design index is 39 N.It is concluded that the speed of the robot in the process of passing the straight pipe is positively correlated with the tangent value of the deflection angle of the driving wheel,and the simulation analysis results are basically consistent with the actual situation.The research of the inspection and cleaning robot has certain reference value for the cleaning and maintenance of pipelines.