履带式管道机器人行走机构设计与有限元分析

Design and Finite Element Analysis of Traveling Mechanism for Crawler-Type Pipe Robot

摘要: 针对老旧小区DN300-DN400污水管道人工巡检效率低、作业风险高，且现有管道机器人对变径段与弯管节点通过能力不足的问题，设计了一款摆臂式履带管道机器人的行走机构与车体结构。行走系统采用三组履带足沿机架圆周120˚均布的布局形式，由独立电机分别驱动；变径机构采用丝杠螺母主动调节结合交叉连杆随动支撑的复合方案，可实现260~370 mm管径自适应调节。完成了主传动轴、直齿轮副与锥齿轮副的参数设计及弯扭组合强度校核，建立变径机构力学模型并完成丝杠驱动电机的选型匹配。借助SolidWorks Simulation对关键承载部件及整机开展静力学有限元分析，同时完成90˚弯管通过性动力学仿真验证。研究结果可为复杂污水环境下管道机器人行走机构的优化设计提供理论依据与数据支撑，对地下排水管网自动化运维装备研发具有工程参考价值。

Abstract: Aiming at the problems of low efficiency and high operation risk of manual inspection for DN300–DN400 sewage pipelines in old residential communities, as well as the insufficient passing capacity of existing pipe robots at diameter-variable sections and elbow joints, this paper designs the traveling mechanism and vehicle body structure of a swing-arm tracked pipe robot. The traveling system adopts a layout with three sets of tracked feet uniformly distributed at 120˚ intervals along the frame circumference, each driven by an independent motor. The diameter-varying mechanism adopts a composite scheme of active lead screw-nut adjustment combined with cross-link follow-up support, realizing adaptive diameter adjustment in the range of 260~370 mm. The parameter design and combined bending-torsion strength check of the main transmission shaft, spur gear pair and bevel gear pair are completed, the mechanical model of the diameter-varying mechanism is established, and the selection and matching of the lead screw drive motor are fulfilled. Static finite element analysis is carried out on key load-bearing components and the whole machine via SolidWorks Simulation, and dynamic simulation verification of 90˚ elbow passability is completed simultaneously. The research results can provide theoretical basis and data support for the optimal design of pipe robot traveling mechanisms in complex sewage environments, and have engineering reference value for the research and development of automatic operation and maintenance equipment for underground drainage pipe networks.