小口径管道移动机器人的研究

Research on Movement of Small Diameter Pipe Inspection Robot

自主行走的小口径管道机器人在特殊管段的通过性能还面临着许多问题。本文提出了一种同轴双牵引轮组螺旋驱动机器人,给出了主要参数的设计计算方法,从结构原理上研究探讨了机器人的驱动以及跨空行走、弯道引导、逾越障碍等控制问题。

Small diameter pipe inspection robot which can move itself in some special pipeline is faced with many obstacles. In order to solve the above difficulty, a coaxial twin-traction inspection robot driven by wheel mechanism, which moves in helix along pipeline, is advanced. The thesis introduces detailedly the calculation method about every design parameter, and try to solve a series of control problem of pipe inspection robot, such as crankle leading, bestraddling over obstacles and hollow step etc,