摘要
设计一种足式管径自适应管道清洁机器人,该机器人行走部包括基于丝杆螺母副及平行四边形机构的管径自适应机架和拥有自锁防滑功能的偏心轮足部。该机器人能在变管径中行走,给出了管径自适应范围的计算方法。
A diameter adaptive structure in the in-pipe cleaning robot is designed in this paper. The walking part of this in-pipe cleaning robot includes a diameter adaptive frame based on the screw-nut pair and parallelogram mechanism and an ec-centric foot with self-locking as well as anti-skid function. The robot can walk in pipelines with variable diameter. The calcu-lation method of the diameter range is given.
出处
《机械研究与应用》
2017年第2期112-114,116,共4页
Mechanical Research & Application
关键词
足式管道机器人
管径自适应
偏心轮
丝杠
foot pipe robot
diameter adaptive
eccentric wheel
lead screw
