| 螺旋推进管道机器人的驱动头与保持架调节机构设计 |
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| 引用本文： | 罗自荣,尚建忠,郭瑜,解旭辉. 螺旋推进管道机器人的驱动头与保持架调节机构设计[J]. 机械设计, 2009, 26(8) |
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| 作者姓名： | 罗自荣 尚建忠 郭瑜 解旭辉 |
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| 作者单位： | 国防科学技术大学,机电工程与自动化学院,湖南,长沙,410073;国防科学技术大学,机电工程与自动化学院,湖南,长沙,410073;国防科学技术大学,机电工程与自动化学院,湖南,长沙,410073;国防科学技术大学,机电工程与自动化学院,湖南,长沙,410073 |
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| 基金项目： | 国家863计划资助项目 |
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| 摘 要： | 为了使基于螺旋推进的管道机器人能在微小的管径中获得较大的牵引力,介绍了不同的螺旋驱动头与保持架调节机构.分析了每种调节压紧机构的力学特性,并给出了计算结果,比较了各种调节机构的优缺点.应用机械系统动力学仿真软件ADAMs,建立了管道机器人的虚拟样机,通过计算机仿真得到机器人输出牵引力的仿真数据,为研制微小型螺旋式管道机器人提供,设计依据.
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| 关 键 词： | 微小机器人 管道 螺旋驱动 调节机构 弹簧 |
Regulation mechanism design of driving head and retainer for screw propulsion pipeline robot |
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| LUO Zi-rong,SHANG Jian-zhong,GUO Yu,XIE Xu-hui. Regulation mechanism design of driving head and retainer for screw propulsion pipeline robot[J]. Journal of Machine Design, 2009, 26(8) |
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| Authors: | LUO Zi-rong SHANG Jian-zhong GUO Yu XIE Xu-hui |
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| Affiliation: | School of Mechatronics Engineering and Automation;National University of Defense Technology;Changsha 410073;China |
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| Abstract: | For the sake of letting the screw propulsion pipeline robot be able to obtain larger pulling force within the mini diameter pipe,different screw driving head and retainer regulation mechanisms were introduced.The mechanics characteristics of each kind of regulative impaction mechanism was analyzed,and presented the result of calculation.The merits and demerits have been compared for each kind of regulation mechanism.The virtual prototype of pipeline robot was established by the use of dynamics simulation so... |
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| Keywords: | mini robot pipeline screw propulsion regulation mechanism spring |
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