摘要
在轮式和履带式机器人的基础上,设计开发了一种新的管内移动机器人.机器人的3组驱动轮沿圆周方向120°均布,在轴向截面内,前后两组驱动轮布置在同一组平行四边形机构上,驱动电动机通过蜗轮蜗杆副驱动3组驱动轮,调节电动机通过滚珠丝杠螺母副和压力传感器使3组驱动轮始终以稳定的正压力紧贴在管道内壁,使机器人具有充裕并且稳定的牵引力.该机器人机构紧凑,工作可靠,适用于管径为 400～650mm的管道.
A new in-pipe mobile robot was designed and developed on the basis of wheel in-pipe robot and crawler in-pipe robot. The three sets of driving wheel circumferentially 120° apart in the cross section, both front and rear driving wheel are distributed on the same parallelogram mechanism. The driving motor drives the three sets of driving wheel by worm couple. The regulating motor makes the three sets of driving wheel push against the pipe inwall with stable and adequate pressing force by the ball screw pair and pressure sensor, so the in-pipe robot can provide adequate and stable traction force. The robot mechanism is simple and small in size and works reliably. It is particular suitable to the pipe with diameter from 400 mm to 650 mm.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2003年第11期1653-1656,共4页
Journal of Shanghai Jiaotong University
基金
国家高技术研究发展计划(863)项目(2002AA442110)
云南省省院省校合作基金项目(2001KABAA00A025)
关键词
管道机器人
平行四边形机构
管道检测
Dynamic mechanical analysis
Gas pipelines
Structural design
