圆截面管道轮式机器人驱动系统设计  

Design of Driving System for Wheeled Robot in Circular Section Pipe

作　　者：孟庆灵 武熙[2] 赵佳伟 李珂 MENG Qingling;WU Xi;ZHAO Jiawei;LI Ke(School of Coal Engineering,Shanxi Datong University,Datong 037003,China;Coal Mine Electromechanical Technology Research Institute,Shanxi Datong University,Datong 037003,China)

机构地区：[1]山西大同大学煤炭工程学院,山西大同037003 [2]山西大同大学煤矿机电技术研究所,山西大同037003

出　　处：《沈阳大学学报（自然科学版）》2023年第4期326-332,共7页Journal of Shenyang University：Natural Science

基　　金：山西省重点研发计划项目(201803D121020);山西大同大学2020年研究生教育创新项目(20CX24);山西大同大学2022年研究生教育创新项目(22CX50,22CX53)。

摘　　要：根据在金属及非金属圆截面管道条件下自动化作业的需求,确定了机器人驱动系统采用双侧6组驱动装置同步运行的设计方案。通过对驱动系统机构设计、驱动装置结构设计、力学分析以及驱动力的计算,设计了一种沿管道横截面120°布置的轮式驱动系统,以满足机器人在内径为108~133 mm圆截面管道中行走的要求,并制作了试验样机。经过行走、爬坡等多项性能试验表明,机器人运行稳定、性能可靠,为轮式管道机器人驱动系统设计提供了一种新方案。Based on the demand for automated operation under the conditions of metal and non-metal circular cross-section pipelines,a design scheme for the robot driving system to use six sets of driving devices on both sides to operate synchronously were determined.Through the design of the driving system mechanism,driving device structure,mechanical analysis,and calculation of driving force,a wheel type driving system arranged along the cross-section of the pipeline at 120°were designed,to meet the requirements of the robot walking in a circular cross-section pipeline with an inner diameter of 108~133 mm,an experimental prototype was made.After multiple performance tests such as walking and climbing,it showed that the robot operates stably and reliably,providing a new solution for the design of the driving system of wheeled pipeline robots.

关 键 词：圆截面管道 轮式机器人 驱动系统 120°布置 结构设计 

分 类 号：TH122[机械工程—机械设计及理论] TP242.2[自动化与计算机技术—检测技术与自动化装置] TD402[自动化与计算机技术—控制科学与工程]