一种管道机器人的自适应主动螺旋式驱动机理分析  

Adaptive Active Screw Driving Mechanism Analysis for Pipeline Robots

作　　者：闫宏伟[1] 焦彪彪 马建强 崔子梓 汪洋 

机构地区：[1]中北大学机械工程学院,太原030051

出　　处：《中国机械工程》2018年第1期21-29,共9页China Mechanical Engineering

基　　金：山西省重点研发计划社会发展资助项目(201603D321117);山西省自然科学基金资助项目(2013011026-2);国家高技术研究发展计划(863计划)资助项目(2008AA06A415)

摘　　要：对变径管道的机器人爬行工况进行分析,提出了一种由液压驱动的主动螺旋式自适应爬行结构。该驱动系统分别实现了驱动轮及其螺旋转角的三轴差速运动,并通过限流系统限制了驱动轮打滑和空转时的功率输出,使系统保持稳定的驱动力。提出了以系统内部压力感知机构运动的负载变化,并通过控制各驱动轮转角来调节整体负载能力的机理,实现了由传统驱动到螺旋式驱动的相互转化。最后通过虚拟样机技术对提出的负载调节和差速运动过程进行了数值模拟。The crawling conditions of variable pipeline robots were analyzed,and an adaptive creeping device driven by a micro-hydraulic was proposed herein.First of all,the three-axis motions in different speeds of the drive wheels and that of drive wheels' angles were realized by means of driving method,which allowed the device to meet the turning requirements.Secondly,the method of limiting the power outputs was proposed by adjusting the flow rates of the corresponding branch when the drive wheels slip and idle.so that the driven system might maintain the required torques steadily.Thirdly,the changes of the load might be perceived by the signals of internal work pressures in the system during the movement,the signals might also adjust the angles of each corner cylinder to achieve mutual conversion from traditional drive to spiral drive;adjust the overall load capacity of the crawler to adapt to the changing external load conditions during the movement.Finally,the load regulation and differential motion mechanism of the device were simulated by virtual prototype technology.

关 键 词：变径管道 自适应的 液压驱动 主动螺旋式驱动 三轴差速运动 

分 类 号：TD714[矿业工程—矿井通风与安全]