管道机器人自带线缆机构设计与分析

Design and analisys of the own cable mechanism of in-pipe robot

有缆管道机器人工作距离较近,且容易在破损的管道中出现卡死的情况,在分析了这些缺点的基础上,提出了自带线缆管道机器人的整体机构设计和绕线器的机构设计,并对其行进距离进行了分析。为了使计算结果更加明显,选择的自带线缆机构所携带的线缆的长度为25米,通过计算自带线缆机器人和普通管道机器人的极限行进距离,得到前者比后者多行进10～12米的结果。结果显示,当机器人安装该机构时,其行进距离会大大的增加。

The work distance of the cable in-pipe robot is small.And that robot is stuck in the damaged pipe easily. Based on analisys of above disadvantage, the author proposes the design of the whole mechanism and winding set mechanism of, and analisysing the mobile distance of the robot. In order to get clear result, the length of the cable that is carried by own cable in-pipe robot is 24 meter. And according to calculating the ultimate of distance of the own cable in-pipe robot and the ordinary in-pipe robot, we know the anterior is further 10-12 meter than the latter. According to above result ,when the robot installs the mechanism that the article proposes, it＇s distance will become bigger.