管道攀爬机器人夹持机构设计与优化

摘要: 针对目前夹持式管道攀爬机器人夹持机构存在的不足, 基于三点定心法设计了四连杆夹持机构。该夹持机构由四连杆夹持部分和丝杆传动部分组成, 通过丝杠传动带动四连杆运动实现夹持机构夹持和张开。本文首先进行夹持机构设计, 并进行了力封闭性分析; 其次对夹持机构连杆进行优化, 重量减轻了11.7%;接着通过ANSYS瞬态仿真分析夹持机构理论最大负载能力, 进行机器人负载试验验证了该夹持机构的可靠性。
- 夹持机构 /
- 优化设计 /
- 负载仿真 /
- 样机试验
Abstract: Due to the shortcomings of the clamping mechanism of a current pipe climbing robot, a four-bar linkage clamping mechanism is designed based on the three-point centering method. The clamping mechanism is composed of a four-link clamping part and a screw transmission part. The four-link movement is driven by the screw transmission to realize the clamping and opening of the clamping mechanism. Firstly, the clamping mechanism was designed and analyzed with force closure. Secondly, the connecting rods of the clamping mechanism were optimized, thus reducing the weight by 11.7%. Finally, the theoretical maximum load capacity of the clamping mechanism was analyzed with the ANSYS transient simulation. The pipe climbing robot's load simulation verifies the reliability of the clamping mechanism.
- clamping mechanism /
- design and optimization /
- load simulation /
- prototype test

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图 1 夹持机构示意图

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图 2 物体坐标系与接触点坐标系示意图

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图 3 夹持机构简图

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图 4 夹持机构夹紧状态下受力简图

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图 5 Pareto解集图

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图 6 优化前后模型对比

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图 7 夹持机构应力分布图

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图 8 机器人平面攀爬最大负载状态

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图 9 机器人空间攀爬最大负载状态

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图 10 仿真环境

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图 11 力负载仿真最大位移时间曲线

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图 12 空间负载仿真的位移时间曲线

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图 13 直管攀爬步态

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图 14 管间跨越步态

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图 15 机器人运动负载试验

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表 1 优化前后连杆长度对比

连杆	x₁	x₂	x₃	x₄	x₅
优化前/mm	42	25	20	20	28.5
优化后/mm	15	17	20	12	15

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表 2 力负载仿真的输入负载

时间/s	1	2	3	4
夹持推力/N	2 000	2 000	2 000	2 000
负载/N	0	200	600	1 000

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表 3 力矩负载仿真的输入负载

时间/s	1	2	3	4
夹持推力/N	2 000	2 000	2 000	2 000
负载/Nm	0	10	20	30

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表 4 机器人运动负载试验结果

试验项目	试验次数	成功次数	成功率/%
直管攀爬	30	30	100
管间跨越	30	29	96.7

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