摘要
研制了一种能适应管径变化的新型管道机器人。介绍了机器人的机构组成及工作原理,并分析了其运动学和静力学特性。机器人采用三组行星轮系作为行走部件和径向尺寸调节机构,并沿圆周均匀分布。这种设计使得机器人能够根据管径大小自适应地调节径向尺寸,从而能够在有一定管径变化的管道中工作。实验证明,该机器人的设计符合实际要求。
This paper developed a kind of new typed piping robot that could suit the variation of pipe diameter. The mechanism composition and working principle of robot were introduced, and its properties of kinematics and statics were analyzed. Three sets of epicyclic train were adopted by the robot to be served as the walking components and the adjusting mechanism for the radial dimensions and to be evenly distributed along the circumference. This kind of design could let the robot to beable to self-adapt to adjust its radial dimensions according to the size of pipe diameters, thus could let it work inside pipes with a certain variation of pipe diameters. It is verified by experiment that the design of this robot is conforming to the practical requirements.
出处
《机械设计》
CSCD
北大核心
2007年第1期16-19,共4页
Journal of Machine Design
基金
国家自然科学基金资助项目(50475182)
上海市重大科技攻关资助项目(04dz12011)
上海市第二期重点学科资助项目(Y0102)
关键词
非开挖探测
管道机器人
牵引装置
行星轮系机构
trench-less detection
piping robot： traction device
epicyclic train mechanism
