Mechanism Design and Curve Passing Performance Research on Walking Module of Orbital Cable Pipe Gallery Inspection Robot

摘要

With the development of the construction of urban underground pipe gallery in China, a number of domestic technology companies and research institutions begin to research and develop mobile robots used to inspect the urban underground pipe gallery. Suspended track type is mainly used for this kind robot as a walking mode. When the rigidly connected bogie of the walking module passes through the curved track, the contact force between the guide wheel and the side wall of the track will accelerate the wear of the guide wheel and the track. In order to solve these problems, this paper proposes a new walking module mechanism of inspection robot, and a flexible guide bogie is innovatively designed. The dynamic model is built when the walking module passes through the curved track, and the stability of the system is analyzed. The ADAMS simulation process of the walking module passing through the curved track verifies the effectiveness of the mechanism design of the flexible guide bogie.