重庆理工大学学报2025，Vol.39Issue(1)：163-170,8.DOI:10.3969/j.issn.1674-8425(z).2025.01.021
多节式管道机器人的结构设计与分析
Structural design and analysis of multi-segment pipeline robot
摘要
Abstract
To improve the robotic cleaning efficiency,the safety of robotic operation and its passability at the bending pipe,we design a new pipeline robot based on fluid mechanics theory and Adams simulation experiment.It integrates the functions of motion mode,adaptation of pipe diameter and cleaning structure and addresses the problem of the traditional pipeline robots.First,based on the diameter and environment of the pipeline,the performance index of the pipeline robot is obtained.Models are built by SolidWorks and then the attitude angle,resistance and friction of the pipeline robot in the pipeline are analyzed according to the operation of the pipeline robot in the pipeline.Finally,the maximum traction force is 198.8 N and the maximum obstacle height of the pipeline robot is 7.8 mm when the attitude angle is 0°.Finally,Adams software is employed to test the pipeline robot through L-shaped pipe bending.Our results show the multi-section pipeline robot has a superior design and works with great ease in the straight pipe and L-shaped bend pipe under the relevant geometric constraints and motion constraints.关键词
管道机器人/结构设计/运动分析/通过性分析Key words
pipeline robots/structural design/motion analysis/passibility analysis分类
信息技术与安全科学引用本文复制引用
李滔,袁锐波,袁萌柯,梁松炜,覃学巨,韩锡镇..多节式管道机器人的结构设计与分析[J].重庆理工大学学报,2025,39(1):163-170,8.基金项目
云南省重大科技专项计划项目(202202AC080008) （202202AC080008）
中泰国际技术转移中心项目(GHJD-2022001) （GHJD-2022001）
