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基于提出的一种尾部带四个螺旋体的管道机器人,建立机器人运行时管道内流体的动力学方程,运用计算流体力学方法,数值分析得到当机器人尾部四个螺旋体螺旋方向交替变化,并且不同旋向的螺旋体转向也不同时,四个螺旋体将形成一致的轴向力和平衡的径向力,使得机器人平衡轴向前进;当机器人尾部四个螺旋体螺旋方向和旋转方向都相同时,四个螺旋体将形成一致的轴向力和一定的周向转矩,使得机器人旋转轴向前进。上述研究表明,该类多螺旋机器人适用于人体内腔等管道完成检查和疏通等功能。
Based on the proposed pipeline robot with four spiral bodies at the tail, the dynamic equations of the fluid in the pipeline are established. By using computational fluid dynamics (CFD) method, the helical directions of the four spiral bodies at the tail of the robot are alternately changed, , The four helices will form a uniform axial force and a balanced radial force so that the robot balances the axial advance. When the four helices at the rear end of the robot have the same helical and rotational directions, the four helices will The formation of a consistent axial force and a certain amount of circumferential torque allows the robot to rotate axially forward. The above studies show that the multi-helix robot is suitable for functions such as inspection and dredging in the body cavity and other conduits.