螺旋推进管道机器人的驱动头与保持架调节机构设计  

Regulation mechanism design of driving head and retainer for screw propulsion pipeline robot

作　　者：罗自荣[1] 尚建忠[1] 郭瑜[1] 解旭辉[1] 

机构地区：[1]国防科学技术大学机电工程与自动化学院,湖南长沙410073

出　　处：《机械设计》2009年第8期41-44,共4页Journal of Machine Design

基　　金：国家863计划资助项目(2007AA04Z256)

摘　　要：为了使基于螺旋推进的管道机器人能在微小的管径中获得较大的牵引力,介绍了不同的螺旋驱动头与保持架调节机构,分析了每种调节压紧机构的力学特性,并给出了计算结果,比较了各种调节机构的优缺点。应用机械系统动力学仿真软件ADAMS,建立了管道机器人的虚拟样机,通过计算机仿真得到机器人输出牵引力的仿真数据,为研制微小型螺旋式管道机器人提供,设计依据。For the sake of letting the screw propulsion pipeline robot be able to obtain larger pulling force within the mini diameter pipe, different screw driving head and retainer regulation mechanisms were introduced. The meehanies characteristics of each kind of regulative impaetion mechanism was analyzed, and presented the result of calculation. The merits and demerits have been compared for each kind of regulation mechanism. The virtual prototype of pipeline robot was established by the use of dynamics simulation software ADAMS of mechanical system. The simulative data of robot＇ s output pulling force was obtained by means of computer simulation, thus provided designing bases for the development of the mini typed screw propulsion pipeline robot.

关 键 词：微小机器人 管道 螺旋驱动 调节机构 弹簧 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]