摘要
为了提高对高空运输管道检测的自动化水平,降低人工检测输送有毒气体管道的风险,设计了一种具有良好的越障性能和负载能力的轮式管外攀爬机器人。以机器人爬越直管、弯管以及适应不同管径变化为目标,设计了总体结构和关键尺寸。分析了机器人在垂直管道、水平管道的爬升稳定性,并进行了转弯过程分析。基于ADAMS进行了机器人爬行过程的动力特性分析,计算了垂直攀爬过程中的阻力与能耗。结果表明本设计的管道攀爬机器人具有较好的爬升效率、越障能力以及负载能力。
A wheeled pipe climbing robot which has good performance in obstacle crossing ability and load capacity was designed to improve the automation capabilities of detecting overhead transport pipeline, reduce the risk of manual inspection pipeline of transporting toxic gas. In order to get across the straight pipe, the bent pipe and the variable diameter pipe, the overall structure and key dimensions of the robot were designed. The stability of the robot during crossing the straight pipe and vertical pipe was analyzed, and the process of crossing the bent pipe was stimulated. The dynamic analysis of the climbing process of the robot based on ADAMS was analyzed, and the resistance and energy consumption during climbing the vertical pipe were calculated. The results show that the wheeled pipe climbing robot has advantage on climbing efficiency, obstacle crossing ability and load capacity.
出处
《机械设计与制造》
北大核心
2016年第12期17-20,共4页
Machinery Design & Manufacture
关键词
管道攀爬机器人
结构设计
动力特性
负载能力
Pipe Climbing Robot
Structure Design
Dynamic Characteristics
Load Capacity
作者简介
段宇，（1991-），男，湖北武汉人，硕士研究生，主要研究方向：机器人运动学、计算机仿真；
侯宇，（1975-），男，陕西宝鸡人，博士研究生，教授，主要研究方向：仿生机械与智能机械
