摘要
为了适应不同直径的地下管道,设计一种径向可变宽式双履带管道机器人。介绍机器人的基本结构;描述其在管内的运动姿态;研究当机器人与管道相对位置间存在摆动角和俯仰角时,可能产生的径向单边侧倾、径向整体侧倾和轴向整体纵倾等管内倾覆问题,并针对各自几何影响参数分别提出抗倾覆设计措施。样机实验结果证明,该系统具有较好的环境适应能力和可靠性。
In order to suit the underground pipelines with different diameters,a dual-track pipeline robot was designed,which adopted a variable structure in radial direction.The fundamental mechanism of the robot was described.Based on the analysis of the motion attitudes,the overturn issues were studied when there were swinging angle and pitching angle between the robot and pipe,including the single side overturn in radial direction,the whole overturn in radial direction and the whole overturn in axial direction.The relevant anti-overturning measures were presented.The testing results of the robot prototype show that the system has good adaptability and high reliability.
出处
《机床与液压》
北大核心
2011年第7期25-28,共4页
Machine Tool & Hydraulics
基金
重庆市教委科学技术研究项目(KJ0707012)
关键词
地下管道
履带式机器人
倾覆
Underground pipelines
Tracked robot
Overturn
