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工程设计学报
Chin J Eng Design  2023, Vol. 30 Issue (3): 353-361    DOI: 10.3785/j.issn.1006-754X.2023.00.033
Robotic and Mechanism Design     
Structure design and motion analysis of pipeline dredging robot with diameter adjustment
Yue LI1(),Yunjiao DENG1,Ran AO1,Yulei HOU1(),Daxing ZENG2
1.School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China
2.School of Mechanical Engineering, Dongguan Institute of Technology, Dongguan 523808, China
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Abstract  

In order to achieve the dredging of urban underground pipelines with complex layout, a tracked pipeline dredging robot based on parallel mechanism was proposed. Adopting a folding and posture adjustment walking device to reduce the robot's volume, and using a working device based 3-US parallel mechanism to increase the robot's workspace; a robot workspace algorithm was written, and the working range and motion trajectory of the walking device and working device were obtained by simulation through MATLAB software; the motion states of the robot were simulated by ADAMS software, and its driving characteristic parameters were analyzed. The variation rules of driving force and driving torque of the walking device under different motion states were obtained, as well as the driving torque of the working device when transitioning between extreme positions in different directions. Simulation study showed the stability of the walking device during folding and posture adjustment, as well as the flexibility of the working device in transitioning between various dredging limit positions. The research results have guiding significance for the development and application of pipeline dredging robot with diameter adjustment.

Key words： pipeline robot      diameter adjustment      workspace      parallel mechanism     
Received: 02 September 2022      Published: 06 July 2023
CLC:  TH113.2  
Corresponding Authors: Yulei HOU     E-mail: ysu_liyue@163.com;ylhou@ysu.edu.cn
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Yue LI
Yunjiao DENG
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Yulei HOU
Daxing ZENG
Cite this article:

Yue LI,Yunjiao DENG,Ran AO,Yulei HOU,Daxing ZENG. Structure design and motion analysis of pipeline dredging robot with diameter adjustment. Chin J Eng Design, 2023, 30(3): 353-361.

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https://www.zjujournals.com/gcsjxb/10.3785/j.issn.1006-754X.2023.00.033     OR     https://www.zjujournals.com/gcsjxb/Y2023/V30/I3/353


可适径调整管道清淤机器人结构设计与运动分析

为了实现布局复杂的城市地下管道的清淤，提出了一种基于并联机构的履带式管道清淤机器人。采用折展调姿行走装置以减小机器人体积，采用基于3-US并联机构的工作装置以增大机器人的工作空间；编写了机器人工作空间算法，通过MATLAB软件仿真得到了行走装置和工作装置的工作范围及运动轨迹；采用ADAMS软件模拟了机器人运动状态，并对其驱动特性参数进行分析，得到了行走装置在不同运动状态下驱动力和驱动力矩的变化规律，以及工作装置在不同方向极限位置转换时的驱动力矩。仿真研究表明了行走装置折展调姿的稳定性及工作装置在各个清淤极限位置间转换的灵活性。研究结果对可适径调整管道清淤机器人的研制与应用具有指导意义。


关键词： 管道机器人,  可适径调整,  工作空间,  并联机构 
Fig.1 Structure of pipeline dredging robot
Fig.2 Structure of auxiliary guidance device for pipeline dredging robot
Fig.3 States of pipeline dredging robot
Fig.4 Pipeline dredging robot during vertical lowering
Fig.5 Structure of walking device
Fig.6 Motion analysis of walking device
Fig.7 Analysis of the motion of walking device for diameter adjustment
Fig.8 Motion range of the end of walking device
Fig.9 Motion trajectory of the end of walking device
Fig.10 Motion simulation of walking device
Fig.11 Variation curve of motor driving torque during folding motion of walking device
Fig.12 Variation curve of electric cylinder driving force of swing arm during folding motion of walking device
Fig.13 Variation curve of electric cylinder driving force of connecting rod during folding motion of walking device
Fig.14 Distribution of working device and folding mechanism within the vehicle body
Fig.15 Coordinate system of the overall and branch of 3-US parallel mechanism
Fig.16 Accessible workspace of working device
Fig.17 Initial position and lateral dredging limit position of working device
Fig.18 Variation curve of motor driving torque of working device under different motion states
Fig.19 Overall dimensions of pipeline dredging robot
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