新型可变形串联管道检测机器人：设计、建模及实验

doi:10.3969/j.issn.1004-132X.2025.09.026

摘要/Abstract

摘要：

面向油-气管道日常维护和检测的重大需求，提出了一种具有自适应变形能力的模块化管道检测机器人RoboChain-Ⅰ。与多数轮式管道机器人不同，该机器人采用细胞启发的模块化仿生设计，具备更灵活的关节冗余转动自由度，可根据管道形状及管径变化主动变形。单体模块采用双轮独立驱动，前后各设置一对俯仰、偏航作动机构，模块间由可被动伸缩的弹簧阻尼支撑结构或可控电磁吸附分离的刚性结构连接，提高了机器人复杂管道通过能力和适应性。对机器人管道内运动受力进行建模，利用Adams实现其运动学仿真，对模型设计参数选择进行了验证。最终，RoboChain-Ⅰ完成了地面、直管、弯管、变径管道及整机子母主动分离的通过实验，验证了机器人在175~440 mm管径范围内实现三维复杂管网检测作业的有效性和可靠性，最大运动速度达0.87 m/s（地面）与0.4 m/s（管内）。

关键词: 管道检测, 可变形机器人, 冗余自由度, 运动控制, 模块化设计

Abstract:

In response to the urgent demands for daily maintenance and inspection of oil and gas pipelines， a novel modular pipeline inspection robot named RoboChain-Ⅰ， featuring adaptive deformation capabilities， was proposed herein. Unlike most wheel-based pipeline robots， the robot adopted a cell-inspired modular biomimetic design with more flexible joint redundant rotational degrees of freedom（DOF）， allowing the robot to actively deform in response to pipelines with varying shapes and diameters. Each module was equipped with dual-wheel independent drive， and a pair of pitch and yaw actuation mechanisms were installed at the front and rear. The modules were connected by passive elastic damping support structures or controllable electromagnetic adhesion-separation rigid structures， which improved the robot's ability to navigate complex pipelines and adapt to various environments. The forces acting on the robots during their motions inside the pipeline were modeled， and kinematics simulations were conducted using Adams. The selection of design parameters for the model was validated accordingly. A comprehensive series of experiments were conducted to evaluate RoboChain-Ⅰ's performance， including terrestrial locomotion， straight pipe traversal， elbow pipe navigation， diameter-varying pipeline adaptation， and active mother-child separation. Experimental results validate the robot's effectiveness and reliability in performing inspection tasks within complex three-dimensional pipeline networks with diameters ranging from 175~440 mm， demonstrating maximum velocities of 0.87 m/s on flat surfaces and 0.4 m/s within pipelines.

Key words: pipeline inspection, deformable robot, redundant degrees of freedom, motion control, modular design

中图分类号:

TP242

张益鑫, 苗忆南, 易智恒, 万文静, 王兴坚, 曾松, 王少萍. 新型可变形串联管道检测机器人：设计、建模及实验[J]. 中国机械工程, 2025, 36(9): 2140-2149.

Yixin ZHANG, Yinan MIAO, Zhiheng YI, Wenjing WAN, Xingjian WANG, Song ZENG, Shaoping WANG. A Novel Deformable Serial Pipeline Inspection Robots：Design， Modeling and Experimentation[J]. China Mechanical Engineering, 2025, 36(9): 2140-2149.

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链接本文: https://www.cmemo.org.cn/CN/10.3969/j.issn.1004-132X.2025.09.026

https://www.cmemo.org.cn/CN/Y2025/V36/I9/2140

图/表 14

图1 RoboChain-Ⅰ的3D设计模型及样机实物

Fig.1 3D design model and prototype of the RoboChain-Ⅰ

图2 机器人单体模块的简化几何模型及结构爆炸视图

Fig.2 Simplified geometric model and 3D structural explosion view of the robot single module

图3 RoboChain-Ⅰ单体模块电控系统

Fig.3 Electronic control system of a single module of RoboChain-Ⅰ

图4 机器人在坐标系中的运动模型及相关参数定义

Fig.4 Motion model diagram and related parameter definitions of the robot in coordinate frame

图5 RoboChain-Ⅰ在L形管道中的转弯运动

Fig.5 Turning motion of RoboChain-Ⅰ in L-shaped pipe

图6 RoboChain-Ⅰ的静力学分析

Fig.6 Static Analysis of RoboChain-Ⅰ

图7 RoboChain-Ⅰ运行在水平直管道中的仿真模型

Fig.7 Simulation of RoboChain-Ⅰ driving in horizontal straight pipe

图8 机器人管内运动仿真结果曲线

Fig.8 Simulation results of robot motion in pipe

图9 地面运动的实验验证

Fig.9 Experimental validation of motion on the ground

图10 水平管道内运动的实验验证

Fig.10 Experimental validation of motion in horizontal pipe

图11 倾角为30°的倾斜管道内运动的实验验证

Fig.11 Experimental validation of motion in inclined pipe with an inclination angle of 30°

图12 倾角为30°的倾斜管道内运动的实验结果曲线

Fig.12 Experimental results of motion in inclined pipe with an inclination angle of 30°

图13 机器人最小运动单体受控分离实验验证

Fig.13 Experimental validation of controlled separation of robot’s minimal motion unit

表1 RoboChain-Ⅰ样机实际运动性能参数

Tab.1 Motion performance parameters of the RoboChain-Ⅰ

参数	数值
可检测管径范围/mm	175 ~ 440
地表最大运动速度/（m·s^-1）	0.87
管内最大运动速度/（m·s^-1）	0.4
最大转弯速度/（rad·s^-1）	0.3
弹簧杆可承受外力范围/N	20 ~ 120
弹簧杆长度变化范围/mm	160 ~ 200
操作电压/V	12

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