摘要
针对城市地下管道中沉积结垢、残墙坝根等坚硬障碍物的处理难题,通过三维建模软件,采用模块化设计理念,设计了一种能在城市地下管道中进行清理作业的机器人,其包括可变径行走模块、可变向给进模块和可变径清理模块。总结分析了该机器人自平衡自适应的结构设计特点。采用力学分析与模拟仿真的方法,分析了该机器人在管道内的受力状态,并对其关键零部件进行优化。结果表明:该机器人可以满足在600~800 mm管道内自平衡行走、自适应变径、自适应转弯和给进的功能要求,并且可以通过弯曲半径大于1086 mm的直角弯管。同时,也丰富了机器人在管道清理方面的设计与应用。
Since it is difficult to deal with such obstacles as deposition and fouling,residual walls and dam roots in the urban underground pipelines,in this article,with the help of the three-dimensional modeling software and the modular design concept,a robot capable of cleaning operation in the urban underground pipelines is designed,which includes a variable diameter walking module,a variable direction feeding module and a variable diameter cleaning module.The structural design characteristics of the self-balanced adaptive robot re summarized and analyzed.The stress exerted on the robot in the pipeline is explored by means of mechanical analysis and simulation,and the key components were optimized.The results show that this robot meets the functional requirements of self-balanced walking,self-adaptive changing diameter,self-adaptive turning and feeding in the 600~800 mm pipeline,and passes the right-angle bend with a bending radius greater than 1086mm.Also,this study enriches design and application of robots in pipeline cleaning.
作者
闻育民
赵研
高科
张聪
姜雯
吕晓姝
WEN Yumin;ZHAO Yan;GAO Ke;ZHANG Cong;JIANG Wen;LV Xiaoshu(College of Construction Engineering,Jilin University,Changchun 130026;Engineering Research Center of Geothermal Resources Development Technology and Equipment,Ministry of Education,Jilin University,Changchun 130061;College of Engineering Science,University of Chinese Academy of Sciences,Beijing 101400;Department of Electrical Engineering and Energy Technology,University of Vaasa,Vaasa Finland FIN-65101;Department of Civil Engineering,Aalto University,Espoo Finland FIN-02130)
出处
《机械设计》
北大核心
2025年第7期26-35,共10页
Journal of Machine Design
基金
国家自然科学基金项目(42172345,41972324)
吉林省教育厅科学研究项目(JJKH20221016KJ,JJKH20221014KJ)
吉林大学研究生创新基金资助项目(2022104)。
关键词
市政工程
管道清理
管道机器人
结构设计
力学分析
仿真分析
municipal engineering
pipeline cleaning
pipeline robot
structural design
mechanical analysis
simulation and analysis
