埋地管道泄漏自适应封堵机器人设计及研究

为解决管道在长期使用中出现的破损、杂质增多及因介质腐蚀和冲蚀产生不规则障碍物等一系列问题,采用模块化设计方法,提出1种驱动性能好、可靠性强的多体分布式自适应管道封堵修复机器人.通过建立机器人越障模型,研究驱动轮和支撑轮运行时的越障方程;在ADAMS软件中建立驱动单元模型,对其运行速度、驱动力、越障高度进行仿真分析;建立...

Design and research of self-adaptive plugging robot for leakage of underground pipeline

In order to solve a series of problems such as the damage,increase of impurities and irregular obstacles caused by medium corrosion and erosion in the long-term usage of pipeline,a multi-body distributed adaptive pipeline plugging repair robot with good driving performance and strong reliability was proposed by using the modular design method.Through the establishment of the robot obstacle-crossing model,the obstacle-crossing equations of driving wheel and supporting wheel during operation were studied.A driving unit model was established in ADAMS software,and its running speed,driving force and obstacle-crossing height were studied.The model prototype was established and verified by experiments,and when the deflection angle of driving wheel was set as 20°~35°,all the performance indexes reached the design requirements.The results showed that reducing the deflection angle of driving wheel or reducing the rotation speed of motor spindle could improve the obstacle-crossing ability.When the deflection angle of driving wheel was 20°,it could cross the obstacles up to 6 mm.The design of the adaptive plugging robot for the buried pipeline leakage can provide important reference for the research and development of equipment in the field of emergency prevention and control of pipeline leakage.