| 管道机器人跨井机构的设计与研究 |
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| 引用本文： | 夏康,黄晓华,周俊俊,李如翔,李波.管道机器人跨井机构的设计与研究[J].机械与电子,2018,0(8):71-74,80. |
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| 作者姓名： | 夏康 黄晓华 周俊俊 李如翔 李波 |
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| 作者单位： | (南京理工大学机械工程学院,江苏 南京 210094) |
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| 摘 要： | 针对下水管道内部管道存在沉井问题,设计出具有跨越沉井功能的管道机器人。首先,根据机器人跨越沉井的工作原理和特点,创建升降机构的三维模型; 其次,建立机器人跨越沉井时支撑装置的力学模型,推导出支撑装置的应力和应变公式; 最后,对支撑装置受力过程进行仿真,验证了应力和应变公式的正确性,为管道机器人后续的优化提供基础。
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| 关 键 词： | 机器人 跨越 沉井 下水管道 |
Design and Research of Spanning Mechanism of Pipeline Robot |
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| XIA Kang,HUANG Xiaohua,ZHOU Junjun,LI Ruxiang,LI Bo.Design and Research of Spanning Mechanism of Pipeline Robot[J].Machinery & Electronics,2018,0(8):71-74,80. |
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| Authors: | XIA Kang HUANG Xiaohua ZHOU Junjun LI Ruxiang LI Bo |
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| Affiliation: | ( School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China) |
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| Abstract: | In this study, a pipeline robot that can step over the open caisson inside the sewer was designed. Firstly, a three-dimensional model of the lifting mechanism was created based on the working principle and characteristics of the robot. Secondly, the mechanical model of the supporting device for the robot crossing the open caisson was established, and the stress and strain formula of the supporting device was deduced. Finally, the loading process of the supporting device was simulated, which verified the correctness of the stress and strain formula, providing a basis for the optimization of the pipeline robot. |
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| Keywords: | robot span open caisson sewer |
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