中文摘要：

为提高管道机器人的自适应能力,运用自锁原理设计试制了一种新型蠕动式管道机器人.该机器人行进过程中,不需对管壁施加额外压力,就能适应水平、竖直、弯曲管道,并且对不同管径、不同截面的管道有一定的适应性.机器人的基本结构采用了伸缩式伞架机构,根据设计要求推导出其伸缩机构的受力情况和支撑机构与管壁的自锁原理;完成了支撑结构、联接机构的设计;建立了丝杆推力与平行四边形推动力的关系;并利用提出的设计方法制作了样机,并完成了样机试验.结果表明,该机器人牵引力大,自锁性能好,能够在内径为90-150 mm的管道中行进,并能够顺利通过弯道.研究结果可为管道机器人的设计提供参考.

英文摘要：

Based on the self-locking principle,a new type of crawling pipeline robot was designed and made to improve the adaptive ability of in-pipe robot. Without additional pressure,the robot was adaptable to pipe diameter and section with horizontal,vertical and bending pipe in moving process. A telescopic umbrella stand mechanism was adopted in the robot,and the force of telescopic mechanism and the principle of self-locking were deduced based on design requirements. The design of support structure and telescopic mechanism was completed,and the relationship of screw thrust and parallelogram driving force was established. A prototype was developed based on the theoretical foundations, and the experiments of prototype were completed. The results show that the robot traction,self-locking ability and cornering characteristics are in good performance,and the robot can accommodate 90 - 150 mm inner diameter of pipe. The results provide a reference for the in-pipe robot design.