Mechanism Design for Internal Inspection of Multi-Legged PE Pipe Robot

针对燃气管道内部老化缺陷人力检测困难的问题，提出了一种可在燃气管道内自主变径的管道机器人机构。该机器人基于管道机器人的基本结构，能自主适应管径的变化，以解决当前机器人通过人为控制支撑机构造成的控制复杂、控制精度不高等问题。本文使用UG对机器人进行了三维建模和仿真，分析了机器人的工作机理，在电机的驱动下完成自适应过程，并依赖丝杆螺母和连杆来实现变径。经仿真测试，机器人高度为270 mm，质量为0.5 kg，主动轮外径可调节范围为270~360 mm，空载行进速度为0.1 m/s，支撑结构均满足设计要求，为管道器人的创新设计提供了有效解决方案。For the problem of difficult human detection of aging defects inside gas pipelines, a pipeline robot mechanism that can autonomously change the diameter inside gas pipelines is proposed. The robot is based on the basic structure of the pipeline robot, and can autonomously adapt to the change of the pipe diameter, in order to solve the complexity of control and low control accuracy caused by the current robot through human control of the support mechanism. In this paper, 3D modelling and simulation of the robot was carried out using UG, and the working mechanism of the robot was analysed to complete the self-adaptation process under the drive of the motor and rely on the screw nut and connecting rod to achieve the diameter change. After the simulation test, the robot height is 270 mm, the mass is 0.5 kg, the adjustable range of the outer diameter of the active wheel is 270~360 mm, the no-load travelling speed is 0.1 m/s, and the support structure meets the design requirements, which provides an effective solution for the innovative design of the pipeline robot.