摘要
为使机器人具备在立体管道网络中的工作能力,如在90°倾角的管道中攀爬或下行、竖直状态下的悬停作业、通过弯道时不发生侧翻、在运动过程中与管内障碍物不发生刚性碰撞等特性,提出一种新型管道机器人结构,该机器人适应可适应±5mm管径作业。为保持过弯时驱动的同步性,进一步提出一种等距传动机构,同时对机器人通过弯道时的状态进行了分析。对所构型的机器人结构进行了结构与力学特性分析,描述了其在水平、水平过弯、竖直通过弯道典型运动状态下的力学特征,对机器人过弯时进行了运动仿真,最后完成了机器人在立体管道中运行的实验验证。
In order to make the robot have the ability to work in in Three-dimensional pipe,Such as Climb or down in the 90 degrees pipe;Hovering operation in vertical state;Does not rollover when it through curves;Moving in the pipe does not rigid collision occurs with the obstacle;A new type of pipe robot structure is proposed in this paper,The robot can adapt to the±5mm diameter pipe diameter change;To maintain synchronization when driving through curves,a kind of equidistant transmission mechanism is proposed in this paper;While the state of the robot through the curve is analyzed.In this paper,Analysis the structure and dynam characteristics of the robot;The mechanical characteristics of horizontal,horizontal curves and vertical curves are described.Completed motion Simulation of robot through curve;Finally,finish the experimental verification of the robot in stereoscopic pipe.
作者
年四成
邓中亮
刘铁
刘金珠
NIAN Si-cheng;DENG Zhong-liang;LIU Tie;LIU Jin-zhu(School of Electronic Engineering,Beijing University of Posts and Telecommunications,Beijing 100876,China;Postdoc-toral Working Station,Beijing Jingwei Textile Machinery New Technology Co.,Ltd.,Beijing 100176,China;Beijing Municipal Engineering Research Centre of Machine Vision for Light Industry and Textile Machinery,Beijing 100176,China)
出处
《机械设计与制造》
北大核心
2019年第11期253-255,260,共4页
Machinery Design & Manufacture
基金
国家自然科学基金(50905019)
