小口径管道用机器人行星齿轮式行走机构设计

Wheel Mechanism Design of a Planetary Gears Driven Micro Robot for Small Piping

为了在小口径管道内进行探测和排除故障 ,提出采用直径 2 5 m m的行星齿轮式机器人行走机构 ,并对行星齿轮减速机构和行星车轮机构的原理、传动比、传动效率和传动特点进行了分析。结果表明 ,这种微型机器人行星车轮机构能较好地解决在小口径管道内的移动问题 。

Owing to the restriction of narrow space, the cracks,weld lines,blockage, erosion and foreign matters are often found inside the pipe used for nuclear power plants, industrial refrigeration and agriculture. To solve these problems, small piping robots can be used to carry a detector, sensor or manipulator into the pipe and to inspect its physical and chemical environments and take the foreign matters out of the pipe. In this thesis the investigations was made into a 25 mm (about one inch) small piping robot that adopts planetary reduction gears and a wheel mechanism, which was proved of a good resolution to the problem.