水下壁面吸附及移动式机器人传动系统的研制

Development of a transmission system for the adsorption and movement robot on underwater hull

机器人传动系统是水下壁面移动及吸附式机器人的关键部件,对机器人移动和吸附等功能的实现起着重要的作用。根据机器人的工作要求及作业环境,分析了前驱动和后驱动的特点,确定了驱动方式为后轮驱动;建立了链传动机构的优化设计数学模型,运用优化方法确定了链传动的相关参数;设计了磁吸附机构和驱动装置等,解决了链传动中的张紧、导向和密封等问题。通过实验,验证了该机器人传动系统可在水深20m以浅的作业环境下工作,负重能力可达30kg,运动速度可达8m/min,可越过20mm的凸起障碍物,达到了机器人设计的要求。

The transmission system is a key component for the adsorption and movement robot on underwater hull,and has an important role to realize the robot＇s movement function,adsorption function and so on. According to the work requirements and operating environment of robot,the characteristics of front-wheel drive and rear-wheel drive are analyzed to determine the drive way which is rear-wheel drive ;the mathematic model of chain transmission are established,the relevant parameters of chain transmission are determined by using optimal design methods ：the magnetic absorbing mechanism and the drive device are designed to solve the problems of chain transmission such as tension,guide ,sealing and so on. The experiments prove that the transmission system can work in the water environment of 20m depth,can load 30kg,can move 8m/min, can get across the protruding obstacle of 20mm, and can meet the design requirements of robot.