管道机器人适应不同管径的三种调节机构的比较

为了使管道机器人能够适应管径为400～650mm的管道,介绍了3种适应不同管径的常用调节机构.分析了每种调节机构的力学特性,给出了计算结果,比较研究了各种调节机构的优缺点.针对工程需要,选用了滚珠丝杠螺母副调节机构,滚珠丝杠上的筒式压力传感器保证驱动轮和管道内壁间的压力始终处于稳定的范围,使管道机器人具有充裕并且稳定的牵引力,牵引力的实验表明该调节机构具有1404N的牵引力输出.该调节机构能很好地适应管径为400～650mm的管道.

Comparative study of three regulating mechanisms for pipeline robot to suit different pipe diameters

In order to enable a pipeline robot to suit pipelines with diameters in the range of 400～650 mm, three commonly used regulating mechanisms are proposed by analyzing the mechanical properties of each type of regulating mechanism and comparing the advantages and disadvantages of these regulating mechanisms. A ball screw pair regulating mechanism has been chosen to satisfy the actual engineering needs of this subject under investigation. The cylindrical pressure sensor on the ball screw can keep the pressure between the driving wheel and the pipe inner wall always stable so that the pipeline robot has adequate and stable traction force. Experimental results show that this regulating mechanism has a traction force output of 1404 N, and it can be used to suit pipelines with pipe diameters in the range of 400～650 mm very well.