六独立轮驱动管内检测牵引机器人

研制了一种用于海底管道内检测系统的无缆自治型轮式牵引机器人模拟样机。介绍了机构组成及工作原理，并分析了动态行走特性。机器人采用内置电动机及传动机构的全主动轮杆式结构，包括六只驱动臂杆和机架杆。每只驱动臂杆的首端直接安装一对主动轮，由其内的一台电动机单独控制。六只驱动臂杆周向60°等间距排列在机架的外层空间，且首尾交替、轴向交错布置，形成六独立轮双截面驱动方式。位于内层中心的机架杆，两端布置力封闭可调机构，产生驱动轮与管壁的主动预紧或解锁。该机器人具有体积小、结构紧凑、牵引力大的特点。试验证明，适合作小直径管道检测系统的理想牵引装置。

TRACTION ROBOT DRIVEN BY SIX INDEPENDENT WHEELS FOR INSPECTION INSIDE PIPELINE

One prototype of wireless autonomous wheeled traction robot for internal inspecting system of seabed oil pipeline is developed. The mechanism structure and operation principle of robot are introduced, and its moving dynamic characteristics are also analyzed. The robot has link structures of whole active wheels with motor and transmission mechanism built in it, which includes six driving arm links and a body frame. One couple of driving wheels are attached directly at the end of each driving arm link and can be controlled by an independent motor. The six driving arm links which are fixed circumferentially with 60° apart on the outside of body frame, are arranged by alternation of front and rear and interleaving in direction of axis, which form the driving mode of six independent wheels and double sections. The modulating mechanisms of closing force are located on the ends of central body frame of robot, to create active contact or disengage of driving wheels with the inner surface of pipe. The robot features with small size of volume, compact structure and big Traction force.The experiments to verify the traction force of robot are conducted, as a result, it is a desirable traction device for the inspecting system of small diameter pipeline.