蠕动式管道清洗机器人设计与分析

Design and Analysis of Peristaltic Pipe Cleaning Robot

针对目前管道清理的需求设计一款由多个模块构成的蠕动式管道清洗机器人。该机器人由前、后支撑模块和清洗模块组成,各模块之间相互配合实现机器人的前进及清洗工作。其中前、后支撑模块通过滚珠丝杠电机连接,是机器人管道内前进的动力来源;清洗模块在机器人前进的过程中始终处于工作状态,实现对管道内壁的清洗。通过对机器人进行不同工况下的受力分析,分析其越障能力、爬坡能力和牵引能力以及影响因素,计算得到理论最大越障高度、爬坡角度和牵引力;通过在ADAMS中建立虚拟样机模型,对机器人进行了动力学仿真验证,得到了动态性能稳定的管道清理机器人结构。

A peristaltic pipe cleaning robot composed of multiple modules was designed.The modules of the robot cooperated with each other to realize the progress and cleaning.Among them,the front and rear support modules were connected by ball screw motors,which was the power source for the advancement of the robot in pipeline,and the cleaning module was always in working condition during the advancing process to realize the cleaning of the inner wall of the pipeline.The force analysis of the robot under different working conditions was carried out,and its obstacle crossing ability,climbing ability and traction ability were deduced to be affected by different physical quantities,and its theoretical maximum obstacle crossing height,climbing angle and traction force were calculated.The virtual prototype model was built in ADAMS,and the dynamic simulation verification of the robot was completed.A pipeline cleaning robot structure with stable dynamic performance was obtained.