%0 Journal Article
%T 管道清理机器人设计与通过性分析
Design and Passability Analysis of Pipeline Cleaning Robot
%A 李振祥
%A 王昌
%A 李建龙
%J Mechanical Engineering and Technology
%P 207-220
%@ 2167-6623
%D 2025
%I Hans Publishing
%R 10.12677/met.2025.142021
%X 为提高中大型运输管道内壁结垢的清理效率，本文设计了一种能在800~1200 mm直径管道中工作的履带管道清理机器人。针对具体情况确定管道机器人的整体结构设计，使得机器人能够通过不同的组装形式适应不同的工作环境，并介绍了机器人的工作原理，对可变径的履带式行走机构及机器人的管径适应性进行了通过性分析，同时分析了机器人在管道中的几何约束运动和运动情况，并在ADAMS中分析了机器人在管道中的通过性。结果表明：管道机器人的设计合理，相关几何约束以及运动约束条件正确，机器人能够在设定管径范围内的直管与L形弯管中正常行走。
To enhance the cleaning efficiency of scaling deposits on the inner walls of medium-to-large transportation pipelines, a track-type pipeline cleaning robot capable of operating in pipelines with diameters ranging from 800~1200 mm has been designed in this paper. The overall structural design of the pipeline robot is determined based on specific working conditions, enabling the robot to adapt to diverse operational environments through different assembly configurations. This paper elaborates on the operational principles of the robot and conducts passability analysis on both the flexible diameter-adaptive crawler-type locomotion mechanism and the pipeline diameter adaptability of the robot. The geometric constraint motion and kinematic behavior of the robot within pipelines are systematically investigated, and robot’s passability is performed through ADAMS simulations. Results demonstrate that the robot design is reasonable, with validated geometric constraints and motion boundary conditions. The robot exhibits stable locomotion capabilities in both straight pipelines and L-shaped bends within the specified diameter range.
%K 管道清洁机器人，
%K 结构设计，
%K ADAMS，
%K 通过性分析
Pipeline Cleaning Robot
%K Structural Design
%K ADAMS
%K Passability Analysis
%U http://www.hanspub.org/journal/PaperInformation.aspx?PaperID=113506