摘要
针对传统管道检测机器人存在变径方式单一、越障效果不佳的问题,提出基于运动学分析原理,构建一个具备自适应能力的履带式管道检测机器人。首先,对管道检测机器人整体结构和变径机构进行具体设计;然后采用ANSYS workbench对管道检测机器人的传力部件进行有限元分析和目标优化,进而分析该动力是否适合管道行走。仿真表明,对管道检测机器人变径机构进行优化后,机器人对管道内壁的正压力由235.6 N提高到289.7 N,传力性能提升了35.48%,实现了轻量化和多样化变径。仿真分析可知,管道检测机器人转动力矩和压缩量均保持在标准范围内,说明设计的管道检测机器人具备较强的越障能力,越障效果显著提升,具备有效性。
In view of the problem that the traditional pipeline detection robot has single diameter mode and poor effect of obstacle crossing,a crawler pipeline detection robot with adaptive capability is constructed based on the principle of kinematic analysis.First,the overall structure and diameter mechanism of the pipeline detection robot are designed;then the ANSYS workbench is used to opti-mize the target of the robot,and then analyze whether the power is suitable for pipeline walking.The simulation shows that after opti-mizing the diameter mechanism of the pipeline detection robot,the positive pressure on the inner wall of the pipeline is increased from 235.6N to 289.7N,and the force transfer performance is improved by 35.48%,and the lightweight and diversified diameter is real-ized.The simulation analysis shows that the rotational moment and compression amount of the pipeline detection robot are kept within the standard range,indicating that the designed pipeline detection robot has strong obstacle crossing ability,and the obstacle crossing effect is significantly improved and effective.
作者
屈葵林
钱志超
张新丽
QU Kuilin;QIAN Zhichao;ZHANG Xinli(Liuzhou Institute of Technology,liuzhou,Guangxi 545000,China;Guangxi Automobile Group Co.,Ltd.,liuzhou,Guangxi 545000,China)
出处
《自动化与仪器仪表》
2025年第5期144-148,154,共6页
Automation & Instrumentation
基金
自治区教育厅配套项目:2011年交通运输特色专业及课程一体化项目(020302050101)。
作者简介
屈葵林(1971-),男,广西桂林人,本科,高级工程师,主要研究方向为机械设计、工业机器人结构设计;通讯作者:钱志超(1977-),男,广西平乐,本科,高级工程师,主要研究方向为机械制造。
