支撑轮式管道机器人牵引机构结构设计  

A Structural Design of Tractive Module for Wall-press Pipeline Robots

作　　者：李杨[1] 曹建树[2] 廖建泉[2] 李魁龙[1] 

机构地区：[1]中国石油大学机械与储运工程学院,北京102249 [2]北京石油化工学院机械工程系,北京102617

出　　处：《北京石油化工学院学报》2013年第1期29-32,共4页Journal of Beijing Institute of Petrochemical Technology

摘　　要：管道机器人可以在油气管道内进行特殊作业,运动方式是其核心。介绍了一种新型管道机器人牵引机构,采用支撑轮式运动方式。首先介绍了机构的整体设计和技术特点,并详细阐述了驱动机构和支撑机构的设计方案和工作原理,同时对其力学特性进行了分析。该机构行走速度快,驱动能力强,工作可靠并可以适应较大的管径变化,可以用于油气管网作业。Pipeline robots the new method of drive is the kind of traction mod drive. First, it in paper particularly Meanwhile, it advantages of w adaptability for can be appli key feature. ule of pipeli troduces the overall ed to some Aiming at ne robots, design and spema some 1 operations in the gas or oil pipeline, difficult environments, this paper states a and this module adopts the wall press type of technical characteristics of the module, also this describes the scheme and mechanism of the drive and support mechanisms also provides the correlative mechanics analysis. This mechanism has the orking fast, having strong tractive capability, working reliably and owning wide different pipe diameters, which can also work in the gas or oil pipeline system.

关 键 词：支撑轮式 管道机器人 驱动机构 牵引机构 

分 类 号：TE88[石油与天然气工程—油气储运工程]