摘要
针对弱刚性锥形薄壁管道内部的作业需求,设计了一种支撑力可控的内径自适应管道机器人。该管道机器人主要包括气动变径机构和运动机构,在锥形管道内运动时与管道内壁始终保持恒力稳定接触。对管道机器人进行力学分析,得到了3组气动变径机构对车板支撑力的关系和运动机构的最大牵引力。在ADAMS软件中对管道机器人的最大牵引力进行了虚拟样机仿真验证。
For the operation requirements inside weakly rigid tapered thin-walled pipes, a self-adaptive inner diameter pipeline robot with controllable supporting force was designed.The pipeline robot mainly includes a pneumatic variable diameter mechanism and a motion mechanism, and it always keeps constant force and stable contact with the inner wall of the pipeline when it moves in the tapered pipeline.The mechanical analysis of the pipeline robot was carried out, and the relationship of the supporting force of the three pneumatic variable diameter mechanism on the vehicle plate and the maximum traction force of the motion mechanism were obtained.The maximum traction force of pipeline robot was verified by virtual prototype simulation in ADAMS software.
作者
白承栋
刘丽莉
熊然
李特
葛宇航
王永青
BAI Chengdong;LIU Lili;XIONG Ran;LI Te;GE Yuhang;WANG Yongqing(Key Laboratory for Precision and Non-traditional Machining Technology of the Ministry of Education,Dalian University of Technology,Dalian 116024,China;Xi’an Aerospace Power Machinery Co.,Ltd.,Xi’an 710025,China)
出处
《现代制造工程》
CSCD
北大核心
2022年第12期27-34,共8页
Modern Manufacturing Engineering
基金
长江学者奖励计划项目(T2017030)
大连市青年科技之星项目(2019RQ026)。
关键词
支撑力可控
内径自适应
管道机器人
力学分析
controllable supporting force
self-adaptive inner diameter
pipeline robot
mechanical analysis
