管道爬行机器人机构设计  

Operating principle of a pipeline robot crawling mechanism

作　　者：李杰[1] 郭瑞杰[1] 王忠[1] 

机构地区：[1]西南科技大学制造科学与工程学院,四川绵阳621010

出　　处：《机械设计》2012年第10期33-35,共3页Journal of Machine Design

基　　金：西南科技大学博士基金资助项目(08zx0104)

摘　　要：采用对称分布的两组曲柄滑块机构,设计了管道爬行机器人机构,既保持了机构的对称性,又增加了滑块的移动距离。其防逆方法采用楔形块挤压自锁。该机构成功地解决了管道爬行机器人的双向自锁和双向移动问题。采用棘轮机构对曲柄实施单向运动控制,通过电机的正转和反转来控制机器人的前进和倒退,使机器人能在管道内平稳移动。Regarding the pipeline of the West-East Natural Gas Transmission Project as parameter background,this paper presents a pipeline robot crawling mechanism and makes a detailed illustration on the principle that the link mechanism crawling in the pipeline.This crawling mechanism takes the simple crank mechanism and the parallelogram linkage as the basic mechanism,though simple variation and combination,the forward walking and direction changing for the mechanism in the pipeline has been achieved,and also has good function of self-locking and reducing.The result shows that the mechanism has a good application prospect.

关 键 词：爬行机器人 曲柄滑块机构 棘轮机构 自锁 

分 类 号：TH13[机械工程—机械制造及自动化]