一种主动变径管道检测机器人的设计与样机验证

In order to improve work efficiency and save human and material resources, robots are widely used in pipeline inspection tasks. In this study, a new spatial two-degree-of-freedom supporting chain was designed based on the need for pipeline inspection robots to avoid obstacles and adapt to different pipe diameters, and the kinematic model of the midpoint of the supporting chain end was established. By co-controlling the three supporting chains, the mechanical structure of the pipeline inspection robot can be reconstructed, thereby achieving the function of adapting to pipes with different inner diameters and passing through pipes with obstacles. At the same time, this study established a trajectory model for the pipeline robot's bending and turning, and determined the motion law for the pipeline robot's bending and turning. Finally, the obstacle avoidance method of the pipeline inspection robot was studied, and the obstacle avoidance ability of the robot was analyzed. The obstacle avoidance motion was simulated by ADAMS software, and two obstacle avoidance methods were compared based on the simulation results. The simulation results show that both obstacle avoidance methods can achieve the function of obstacle avoidance, but the stability of the robot is slightly different during the obstacle avoidance process. A pipeline inspection robot prototype was prepared using 3D printing technology in this study, and the bending and turning function, obstacle avoidance ability, and climbing ability in vertical pipes of the prototype were experimentally verified. The experimental results show that the robot has obstacle avoidance function, can successfully pass-through bent pipes, and can climb vertical pipes.