管内蠕动式机器人行走驱动机构机理分析和性能仿真  

Mechanism Analysis and Performance Simulation of Walking for In-pipe Creeping Robot

作　　者：许冯平[1] 王欢 刘辉 邢海燕[1] XU Feng-ping;WANG Huan;LIU Hui;XING Hai-yan(College of Mechanical Science and Engineering of Northeast Petroleum University,Daqing 163318 China)

机构地区：[1]东北石油大学机械科学与工程学院,黑龙江大庆163318

出　　处：《自动化技术与应用》2022年第8期66-68,129,共4页Techniques of Automation and Applications

基　　金：黑龙江省自然科学基金联合引导项目(LH2019A004)。

摘　　要：针对狭长空间管内机器人大拖动力这一问题,文中提出了一种新型管内蠕动式机器人行走驱动机构。其主要施力机构是由不完全齿轮齿条机构组成,具有传动效率高,工艺性好的特点。文中建立了其模型,完成了其行走机理、运动速度、拖动力的分析。并建立了其虚拟样机,完成了虚拟样机的仿真实验分析。其数值结果与理论分析一致性好,在一定程度上验证了所提出的新型管内蠕动式机器人行走驱动机构的合理性和可行性,为物理样机的制造提供了基础。Aiming at the problem of large towing force of robot in narrow pipe space,a new type walking mechanism of in-pipe worming robot is proposed in this paper.The main force-exerting mechanism is incomplete gear-rack mechanism,it had the characteristics of high transmission efficiency and good manufacturability.The walking principle and walking speed and towing force is analyzed.When virtual prototype established the simulation experiments analysis are completed.The numerical results are in good agreement with the theoretical analysis,to a certain extent,the rationality and feasibility of the new walking mechanism proposed of inpipe worming robot are verified,it provides the basis foundation for the manufacture of physical prototype.

关 键 词：管内机器人 行走机构 拖动力 虚拟样机 仿真分析 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]