机械

现有管道机器人在结构与功能方面发展已较为成熟，但部分刚性结构灵活性受限，且可能因刚性碰撞产生电火花，当管道内气体成分不稳定时构成安全隐患。对此，本文提出一种模块化、刚柔耦合及仿生学原理的肌腱驱动预充气软体管道机器人的结构设计方案。研究建立了类肌腱仿生预充气气囊的理论模型，并通过有限元分析验证，融合了刚性与柔性结构的协同优势。该设计采用刚柔融合的模块化架构，集成了自适应变径与视觉检测功能。中段柔性驱动模块通过仿生预充气气囊与硅胶带的协同作用，实现了“伸缩-锚定”式低摩擦运动，显著提升在复杂管道中的适应性和通过性；首尾两端采用基于双摇杆-滑块机构的刚性变径模块，可在确保结构稳定性的同时自适应调节管径，有效提高管道作业效率。这种刚柔结合的设计充分发挥了柔性机构在复杂管道环境中的独特优势，为解决传统管道机器人适应性不足的问题提供了新思路。

Conventional in-pipe robots have developed relatively maturely in terms of structure and functionality. However, certain rigid structural components exhibit limited flexibility, and potential rigid collisions may generate electrical sparks, posing a safety hazard when pipeline gas composition is unstable. This paper proposes a structural design scheme for a modular, rigid-flexible coupled, and tendon-driven pre-inflated soft in-pipe robot based on bionic principles. The study establishes a theoretical model for the tendon-like bionic pre-inflated airbag, validated via finite element analysis. This model effectively integrates the synergistic advantages of rigid and flexible structures. The design employs a modular architecture fusing rigidity and flexibility, incorporating adaptive diameter-changing and visual inspection capabilities. Through the coordinated action of the bionic pre-inflated airbag and silicone bands, the central flexible driving module achieves low-friction "extend-anchor" locomotion, significantly enhancing adaptability and traversability within complex in-pipe. The head and tail sections utilize rigid diameter-changing modules based on a double-rocker slider mechanism, which enables adaptive pipe diameter adjustment while ensuring structural stability and effectively improves pipeline operation efficiency. The design fully leverages the unique advantages of flexible mechanisms in complex pipeline environments, offering a novel solution to address the adaptability limitations of traditional in-pipe robots.