一种矿用变形履带式管道机器人设计及牵引性能分析

王国锐; 闫宏伟; 寇子明; 卫红梅; 任浩杰; 马耀辉

doi:10.13272/j.issn.1671-251x.2025040091

一种矿用变形履带式管道机器人设计及牵引性能分析

1.
中北大学机械工程学院，山西太原　030051
2.
太原理工大学机械工程学院，山西太原　030024

基金项目:

山西省科技合作交流专项项目(202104041101001)；中央引导地方科技发展资金项目（YDZJSX2024C011）。

详细信息

作者简介:
王国锐（2000—），男，山西晋中人，硕士研究生，研究方向为智能机器人与应急防控，E-mail：1835526076@qq.com

通讯作者:
闫宏伟（1969—），男，山西太原人，教授，博士，研究方向为应急防控智能装备，E-mail：aweigeyan@nuc.edu.cn。

中图分类号: TD67
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出版历程
- 收稿日期: 2025-04-28
- 修回日期: 2025-06-15
- 网络出版日期: 2025-06-25
- 刊出日期: 2025-06-14

Design and traction performance analysis of a mine deformable crawler pipeline robot

1.
School of Mechanical Engineering, North University of China, Taiyuan 030051, China
2.
College of Mechanical Engineering, Taiyuan University of Technology, Taiyuan 030024, China

摘要

摘要:
矿用履带式管道机器人依靠履带与管壁之间较大的接触面积，具备良好的越障能力和运行稳定性，适用于复杂和多变的管道环境。目前矿用履带式管道机器人存在结构复杂、不能主动控制变径尺寸、机器人牵引越障性能差等问题。提出一种矿用变形履带式管道机器人，可自适应DN180—DN220管道环境。该机器人包括1个中心变径模块和3个履带足模块。每个履带足模块配备独立驱动电动机，驱动电动机的输出轴通过锥齿轮传递转矩，带动履带足同步轮旋转，从而给机身提供前进动力。履带足模块可变形抬升，从而通过台阶式障碍物。中心变径模块可通过电动机和回压弹簧调节连杆伸缩，保证履带足与管壁间的正压力，使机器人与管道中心线对齐，达到柔性变径效果。建立了管道机器人在水平、倾斜、有障碍物管道中及拖缆情况下的牵引动力学模型，通过分析得出：管道机器人成功越障的关键是履带足模块的驱动电动机需同时满足履带足抬升转矩、前轮旋转转矩及克服摩擦和拖缆阻力3个动力学约束。仿真结果表明：① 模拟工业管道环境，得出该管道机器人机身最佳弹簧弹性系数为4 N/mm。② 模拟越障情景，得出该管道机器人能够通过最大台阶式障碍物高度为15 mm，此时电动机转矩达到峰值，约为340 N·mm。实验结果表明：该管道机器人的牵引力平均值为58 N，能成功越过15 mm障碍物，越障过程中驱动电动机电流稳定，符合仿真模拟结果和机器人设计要求，验证了该管道机器人结构设计合理，并具有优越的牵引性能。
- 履带式管道机器人 /
- 变形式履带 /
- 中心变径模块 /
- 履带足模块 /
- 牵引性能 /
- 越障
Abstract:
The mine crawler pipeline robot, with its large contact area between the crawlers and the pipe wall, has strong obstacle-crossing ability and stability, making it suitable for complex and variable pipeline environments. Currently, mine crawler pipeline robots face issues such as complex structure, inability to actively control diameter variations, and poor traction and obstacle-crossing performance. A mine deformable crawler pipeline robot was proposed, which could adapt to pipeline environments with diameters ranging from DN180 to DN220. The robot included one central diameter-changing module and three crawler foot modules. Each crawler foot module was equipped with an independent drive motor, whose output shaft transmitted torque via bevel gears to drive the crawler foot synchronous wheels, thus providing forward propulsion for the robot body. The crawler foot modules were deformable and could be raised, allowing the robot to cross step-like obstacles. The central diameter-changing module could adjust the linkage extension and retraction through the motor and backpressure spring, ensuring the positive pressure between the crawler foot and the pipe wall, thus aligning the robot with the pipeline centerline and achieved flexible diameter variation. Traction dynamics models for the pipeline robot under horizontal, inclined, obstructed pipeline, and cable-dragging conditions was established. The analysis of the models revealed that the key to successful obstacle crossing was that the drive motors of the crawler foot modules must simultaneously meet three dynamic constraints: the lifting torque of the crawler foot, the rotational torque of the front wheel, and the forces required to overcome friction and cable-dragging resistance. Simulation results showed that: ① in an industrial pipeline environment simulation, the optimal spring coefficient for the robot body was found to be 4 N/mm. ② In an obstacle-crossing scenario simulation, the robot was able to cross an obstacle with a maximum step height of 15 mm, with the motor torque reaching its peak at approximately 340 N·mm. Experimental results showed that the robot's average traction force was 58 N, and it successfully crossed obstacles up to 15 mm high. During the obstacle-crossing process, the motor current remained stable, aligning with both the simulation results and the design requirements, thus verifying the rationality of the robot's structural design and confirming its excellent traction performance.
- crawler pipeline robot /
- deformable crawler /
- central diameter-changing module /
- crawler foot module /
- traction performance /
- obstacle crossing

HTML全文

图 1 变形履带式管道机器人结构

Figure 1. Structure of deformable crawler pipeline robot

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图 2 变形式履带足模块结构

Figure 2. Structure of deformable crawler foot module

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图 3 履带足变形原理

Figure 3. Deformation principle of crawler foot

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图 4 中心变径模块结构

Figure 4. Structure of central variable diameter module

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图 5 中心变径模块适应管径

Figure 5. Adaptation of central diameter changing module to pipe diameter

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图 6 控制系统结构

Figure 6. Structure of control system

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图 7 变形履带式管道机器人牵引力分析模型

Figure 7. Traction analysis model of deformable crawler pipeline robot

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驱动因子 ${I_{\mathrm{g}}}$ 、机身姿态角 $\alpha$ 及管道坡度角 $\gamma$ 的关系

Relationship of driving factor ${I_{\mathrm{g}}}$ , fuselage pose angle $\alpha$ and pipeline slope angle $\gamma$

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图 9 直管拖缆阻力分析

Figure 9. Analysis of straight pipe towing cable resistance

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图 10 变形履带式管道机器人越障过程

Figure 10. Obstacle negotiation process of deformable crawler pipeline robot

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图 11 履带足越障力学模型

Figure 11. Dynamic model of crawler foot during obstacle negotiation

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图 12 牵引力仿真测试环境

Figure 12. Traction simulation test environment

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图 13 牵引力仿真结果

Figure 13. Traction simulation results

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图 14 不同工业管道环境下管道机器人的牵引力仿真结果

Figure 14. Traction simulation results of pipeline robot under different industrial pipeline environments

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图 15 管道机器人越障仿真测试环境

Figure 15. Simulation test environment for obstacle crossing of pipeline robot

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图 16 越障过程线性位移与电动机转矩

Figure 16. Linear displacement and motor torque during obstacle crossing

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图 17 履带式管道机器人系统组成

Figure 17. Crawler pipeline robot system components

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图 18 牵引力测试环境

Figure 18. Traction test environment

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图 19 变形履带式机器人越障测试

Figure 19. Obstacle crossing test of deformable crawler robot

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图 20 电动机电流变化曲线

Figure 20. Current variation curves of motor

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表 1 矿用变形履带式管道机器人主要技术参数

Table 1 Main technical parameters of mining deformable crawler pipeline robot

技术参数	值	技术参数	值
机器人长度/mm	≤300	牵引力/N	≥30
机器人质量/kg	≤8.5	越障高度/mm	≥15
适应管径/mm	180～220	动力来源	拖缆式
最大速度/（m·min⁻¹）	≥3

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表 2 履带足与管道接触参数

Table 2 Contact parameters between crawler foot and pipeline

工况	管道材质	静摩擦因数	动摩擦因数
钢（干性）	钢	0.25	0.30
钢（油性）	钢	0.05	0.08
铝（干性）	铝	0.20	0.25
铝（油性）	铝	0.03	0.05

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