一种管道机器人爬行机构的工作原理  

Mechanism design of pipeline crawled robots

作　　者：郭瑞杰[1] 李杰[1] 王忠[1] 杨启坤[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11期26-30,共5页Journal of Machine Design

基　　金：国家"863"高科技资助项目(2002AA421220);西南科技大学博士基金资助项目(08zx0104)

摘　　要：提出了一种管道机器人爬行机构,以西气东输的管道参数为背景,对连杆机构在管道爬行的原理进行了详细的阐述。该爬行机构以简单的曲柄滑块机构和平行四边形机构为基础,经过简单的变异、组合,实现了机构在管道中的前行和换向,并具有很好的自锁和变径功能。结果表明,该机构具有很好的应用前景。This paper designs the pipeline crawling robot mechanism, which uses the two groups of symmetric distribution sli- der-crank mechanisms not only keeping the symmetry but also adding the slider movement distance. The method for preventing re- verse is that the wedge piece of extrusion self-locked. The mecha- nism successfully solves the pipeline crawled robots two-way self- locking and two-way movement problems. Using the ratchet wheel organization control the crank unidirectional movement. Though the forward and backward rotations of the motor to control the robot ad- vance and retreat smoothly.

关 键 词：爬行 连杆机构 管道机器人 平行四边形机构 双曲柄滑块机构 

分 类 号：TH13[机械工程—机械制造及自动化]