煤气管道机器人管径适应调整机构分析  

Pipe-Diameter Adapting and Adjusting Mechanism of Gas Pipeline Inspection Robot

作　　者：张云伟[1] 颜国正[1] 丁国清[1] 徐小云[1] 

机构地区：[1]上海交通大学信息检测技术与仪器系，上海200030

出　　处：《上海交通大学学报》2005年第5期822-822,959,共1页Journal of Shanghai Jiaotong University

基　　金：国家高技术研究发展计划(863计划)，上海市科技攻关项目，云南省省院省校科技合作项目

摘　　要：提出了一种基于平行四边形轮腿机构、采用丝杠螺母调节方式的煤气管道检测机器人管径适应调整机构，介绍了该机构的工作原理；围绕机器人牵引能力的改善，对其工作过程中相关力学特性建立了数学模型，并进行了实验测试和验证，结果表明理论分析是正确的．该管径适应调整机构具有结构简单、管径适应范围大的特点．To improve the traction capability of a gas pipeline inspection robot for long distance inspection on-line, a pipe-diameter adapting and adjusting mechanism was proposed, which can change robot size to fit different gas pipelines with different diameter size automatically and provide stable and required traction force for robot traveling into gas pipeline. The mechanism is mainly based on wheeled leg parallelogram in structure, and adjusts its body size by feed screw nut style. The working principle of the mechanism was introduced, and the mathematical model of the correlative mechanics analysis was established. To confirm the theoretical analysis, experimental testing was performed. The result shows that the theoretical analysis is valid and the proposed mechanism is reliable. The mechanism has advantages of simple structure and wide adaptability for different pipe diameters.

关 键 词：管道机器人 管径 机构分析 煤气 管道检测机器人 调整机构 平行四边形 调节方式 丝杠螺母 工作原理 牵引能力 数学模型 力学特性 工作过程 实验测试 腿机构 

分 类 号：TU991.36[建筑科学—市政工程] TP242[自动化与计算机技术—检测技术与自动化装置]