双轮履带式管道机器人防侧倾机构研究  

Research on Anti-roll Mechanism of Double-wheel Crawler Pipeline Robot

作　　者：刘增辉 马正阔 彭磊 LIU Zenghui;MA Zhengkuo;PENG Lei(Department of Mechanical and Electrical Engineering,Hohai University,Changzhou 213022,China;Engineering Research Center of Dredging Technology of Ministry of Education,Hohai University,Changzhou 213022,China)

机构地区：[1]河海大学机电工程学院,江苏常州213022 [2]河海大学疏浚技术教育部工程研究中心,江苏常州213022

出　　处：《机械制造与自动化》2020年第5期142-145,共4页Machine Building & Automation

基　　金：国家自然科学基金青年基金项目(51909075);国家重点研发计划项目(2018YFC0407404);江苏省自然科学基金青年基金项目(BK20190166)。

摘　　要：针对双轮履带式管道机器人在管道中运动不稳定、容易侧倾的问题,设计一种履带式管道机器人防侧倾机构。基于SolidWorks软件,建立履带式管道机器人三维模型,进行防侧倾装置及传动系统设计。研究防侧倾装置不同管径适应性,并对管道机器人进行了受力分析。研究结果表明:该防侧倾机构结构简单、适应性能、损伤便捷、性能可靠,能够实现双轮履带式管道机器人的平稳作业,具有良好的工程应用价值。Because unstable movement and easy rolling,exist in the double-wheel crawler pipeline robot,its anti-roll mechanism is designed.SolidWorks software is used to establish its 3D model and the anti-roll mechanism and the driving system are designed.The adaptability of the anti-roll mechanism in the different pipe diameters is researched on and the bearing force of this pipeling robot is analyzed.The research result shows that this anti-roll mechanism is characteristic of simple structure and reliable performance,it can be used to make the double-wheel crawler pipeline robot smoothly operate and it is of good value in engineering.

关 键 词：管道机器人 防侧倾 水平仪 Zigbee无线模块 伺服电机 

分 类 号：TH242.3[机械工程—机械制造及自动化] TP391[自动化与计算机技术—计算机应用技术]