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为解决管道机器人过弯时驱动轮与管壁间的相对滑动问题以及机体对管径尺寸的适应问题,设计了采用一个电机进行驱动并具备差动能力和自适应变径能力的管道机器人。分析了机体差动机构的传动特性,理论推导了管道机器人变径机构工作状态时的受力方程,得到了机器人运行时驱动轮与管壁之间的力学关系式。构建了机体管内运动模型,并分析了机体在不同位姿条件下,模型中各轮的运动参数变化情况。建立机器人在组合管中运动的虚拟样机模型,通过仿真实验对机体的差动特性进行了验证,结果表明机器人可以无干涉过弯,并展现出了良好的驱动性能。
In order to solve the relative sliding problem between the driving wheel and the pipe wall when the pipe robot cornering and the adaptation of the pipe body to the pipe size, a pipe robot which adopts one motor to drive and has differential capability and adaptive reducing capability is designed. The transmission characteristics of the differential mechanism of the robot are analyzed. The mechanical equations of the displacement mechanism of the robot are deduced theoretically. The mechanical relation between the driving wheel and the pipe wall is obtained. The motion model of the tube in the tube was constructed, and the variation of the motion parameters of each wheel in the model under different pose conditions was analyzed. The virtual prototype model of the robot moving in the composite pipe is established. The differential characteristics of the robot body are verified through the simulation experiments. The results show that the robot can avoid the cornering and exhibit good driving performance.