摘要
管道健康监测是管道能源运输的热点问题。针对在役管道健康监测的管道机器人技术,介绍了一种蠕动式间歇前行的移动牵引机构。着重阐述了该机构中柔性丝杆和准直螺母配合提高过弯能力的传动机构,分析了该机构中行走部件行进中的拖曳牵引力、前后行走部件同轴性、机构过弯时通过性这些关键问题。分析表明该移动牵引机构具有大的牵引力、良好的过弯能力、自主锁止在管道内不耗能的特点。
Pipeline health monitoring becomes a hotspot of pipeline energy transport problems.For its robot technology,this paper introduces a crawling intermittent forward movement traction mechanism and drive mechanism equipped with flexible screw and collimating nuts,which are used to improve cornering and driving capacity.It also analyzes these key problems,such as drag traction of the walking components,the coaxality between before walking components and after walking components and the cornering performance.Analysis result shows that the mechanism is characteristic of powerful mobile traction load,good cornering ability and no energy consumption at independently locking in the pipe.
作者
段颖妮
韩佐军
杨振钢
戴君
李国柱
DUAN Yingni;HAN Zuojun;YANG Zhengang;DAI Jun;LI Guozhu(Shaanxi Key Laboratory of Surface Engineering and Remanufacturing,Xi'an 710065,China;Mechanical&Electronic Engineering College,Xi'an University,Xi'an 710065,China)
出处
《机械制造与自动化》
2018年第5期172-175,共4页
Machine Building & Automation
基金
国家自然科学基金资助项目(61401356)
陕西省科技厅工业攻关项目(2013K07-47)
关键词
管道监测
机器人
牵引机构
蠕动式间歇前行
柔性丝杆
准直螺母
pipeline monitoring
robot
traction mechanism
crawling intermittent forward
flexible screw
collimating nuts
