中小型自适应管道机器人设计与分析

Design and Analysis of an Adaptive In-Pipe Robot for Small and Medium-Diameter Pipe

摘要: 随着现代化社会的不断发展，管道机器人在各个行业中的应用范围日益扩展，但现有中小型管道机器人大多仍存在牵引力小、适应性弱等问题，严重制约其工作能力与实用发展。针对以上问题，本文提出一种中小型自适应管道机器人系统，采用自适应支撑结构与悬架系统，可保障整机具备充足的支撑力与牵引能力，适配非结构管道内壁工况。本文对机器人机械结构、驱动系统以及控制系统进行设计与分析，最终研制出原理样机进行性能测试验证。本研究为管道机器人在大牵引力输出、稳定运动控制等方面的工程应用与理论研究提供了有益的参考和借鉴。

Abstract: With the continuous development of modern society, the application scope of in-pipe robots has been expanding across various industries. However, most existing small and medium-diameter in-pipe robots suffer from insufficient traction and poor environmental adaptability, which severely limit their working performance and practical promotion. To address the above drawbacks, this paper proposes a small and medium-diameter adaptive in-pipe robot system. Equipped with an adaptive supporting structure and suspension system, the robot can provide sufficient supporting force and traction to adapt to pipelines with non-structural inner wall and various inner wall conditions. The mechanical structure, drive system and control system of the robot are designed and analyzed in this paper, and a prototype is finally manufactured for performance verification tests. This research provides valuable references for the theoretical research and engineering application of in-pipe robots in terms of high traction output and stable motion control.