埋地管道磁记忆检测机器人机械结构设计与运动学仿真

针对目前国内管道机器人在行进过程中极易卡堵、变径范围小且检测效率低下的问题，提出一种用于埋地管道的分体式可变径磁记忆检测机器人。设计了管道机器人的机械结构，通过SolidWorks建立三维模型，利用ADAMS对机器人在弯管与变径管道内的通过性进行了仿真分析。在此基础上，制造物理实体模型，进行管道内通过情况与磁记忆检测试验。试验结果表明，机器人结构设计合理，可以顺利通过曲率半径不小于1.5倍管径的弯管以及280~340 mm的变径管道，且磁记忆检测结果与X射线复验结果一致，为可变径、自适应、全寿命埋地管道检测机器人的设计提供了新的思路。

Mechanical Structure Design and Kinematics Simulation of Magnetic Memory Testing Robot for Buried Pipeline

Aiming at the problems of jamming, small variable diameter range and low efficiency of inspection during the pipeline robot movement, a variable diameter split type robot was proposed with magnetic memory testing method for buried pipelines. The mechanical structure of the pipeline robot is designed, and the 3D model is built by SolidWorks. By using ADAMS, the passability of the robot is simulated and analyzed inside the bent and reducer pipes. On this basis, the physical entity model is made to test the passing condition and magnetic memory in the pipeline. The test results show that the robot structure design is reasonable, can pass through the curvature radius is not less than 1.5 times the pipe diameter and the diameter of 280~340 mm pipe. The magnetic memory test results are consistent with the X-ray retest results, which provides a new idea for the design of a variable diameter, self-adaptive and lifetime buried pipeline detection robot.