变直径管道清扫机器人的设计与仿真

Y. Liang, Ying Zhu, Wenbin Pan, Kairui Mai
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摘要

针对目前市场上管道机器人越障能力弱、通用性差的问题,本文设计了一种具有越障能力的自适应变径管道检测机器人,通过压力陀螺仪感知压力变化,反馈给控制中心进行反馈调整,然后由执行器变径电机进行变径调整;配有平行四边形减速器机构,使机器人能够稳定地改变直径和行走,并且行走轮机构还配有伸缩机构。基于虚功原理,对该机构进行了理论力学力分析和ADAMS仿真,验证了其合理性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Design and simulation of variable diameter pipe cleaning robots
In view of the weak obstacle crossing ability and poor versatility of pipeline robots on the market, this paper designs an adaptive variable diameter pipeline inspection robot with obstacle crossing ability, which senses pressure changes through the pressure gyroscope and feeds back to the control center for feedback adjustment, and then the actuator variable diameter motor performs the diameter change, with the parallelogram reducer mechanism to enable the robot to stably change the diameter and walk, and the walking wheel mechanism is also equipped with a telescopic mechanism. Based on the principle of virtual work, the theoretical mechanical force analysis and ADAMS simulation of the mechanism were carried out to verify its rationality.
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