仿尺蠖变径伸缩式管道机器人的设计与分析

Design and Analysis of Inchworm-like Variable Diameter Telescopic Pipeline Robot

为提高复杂环境下管道机器人的灵活性和适应能力,模拟尺蠖运动方式,基于凸轮自锁原理,设计了一种仿尺蠖变径伸缩式管道机器人。采用丝杠螺母伸缩传动结构,机器人可以实现仿尺蠖运动。利用凸轮自锁原理,实现机器人的单向自锁。建立变径机构的封闭力模型与动力学模型,通过应用ADAMS软件在水平管道内进行动力学仿真分析,验证设计的可行性。仿尺蠖变径伸缩式管道机器人具有良好的越障能力、承载能力和管道适应性,能够满足复杂、直径多变的管道内运动要求。

In order to improve the flexibility and adaptability of the pipeline robot in complex environment,the movement mode of the inchworm was simulated,and an inchworm-like variable diameter telescopic pipeline robot was designed based on the principle of cam self-locking.Using the telescopic transmission structure of the lead screw nut,the robot can realize the inchworm-like movement.Using the principle of cam self-locking,the one-way self-locking of the robot was realized.The closed force model and dynamic model of the reducer mechanism were established,and the dynamic simulation analysis was carried out in the horizontal pipeline by applying ADAMS software to verify the feasibility of the design.The inchworm-like variable diameter telescopic pipeline robot has good obstacle crossing ability,bearing capacity and pipeline adaptability,and can meet the movement requirement in complex and variable diameter pipeline.