主动螺旋驱动式管道机器人

An Active Helical Drive In-pipe Robot

  • 摘要: 提出了一种主动螺旋驱动式管道机器人,该管道机器人很好地解决了被动螺旋式管道机器人牵引力小、机械传动效率低的问题.针对主动式螺旋和被动式螺旋两种管道机器人的运动学及力学进行了对比分析,从理论上阐述了二者的区别,并完成了主动式螺旋管道机器人的结构设计、控制系统设计、样机试制及性能实验.实验结果表明,该主动式螺旋管道机器人的牵引力远远超过被动式螺旋管道机器人.该新型主动螺旋驱动式管道机器人结构紧凑、牵引力大,能更好地适应狭小管道内作业.

     

    Abstract: An active helical drive in-pipe robot is proposed to solve the problems of the passive helical drive in-pipe robots such as small tractive force and low mechanical transmission efficiency. Comparative analysis on kinematics and mechanics is accomplished between active and passive helical drives. The difference between the two drive methods is explained theoretically. Structure design, control system design, prototype development and performance tests are completed as well. Experimental results show that the tractive force of the active helical drive in-pipe robot is much larger than that of the passive helical drive in-pipe robot. The active helical drive in-pipe robot has compact structure and big tractive force, and can adapt to the narrow pipeline operations better.

     

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