管道机器人的机构设计与通过性分析

Mechanism design and trafficability analysis of the pipeline robot

分析了弹簧腿管道机器人的力学特性和适应范围,以及丝杠螺母管道机器人的力学特性和通过性。通过比较这两种机器人的优缺点,综合其特点提出了弹簧丝杠管道机器人的机构设计方法,并分析了该机器人的通过性。分析得知,该机器人在越过障碍时,可以始终与管道内壁紧密接触,不仅可以使正压力始终保持在合适的范围内,而且增大了越障的成功率。

Analyze the dynamic characteristics and the application range of the pipeline robot with the spring leg and the dynamic characteristics and the trafficability of the screw-nut pipeline robot. Moreover, comparing their advantages and disadvantages and synthesizing their features, the paper proposes a new design of the spring screw-nut pipeline robot, and analyzes its trajficability. The analytical results show that this robot could keep close contact with the pipe inwall all the time when crossing obstacle, which not only keeps the normal pressure during the applicable range, but also boosts the success rates.