新型管道除锈机行走部弯管通过性的研究

为了描述管道除锈机驱动单元的弯管通过性,建立了管道除锈机在弯管处的运动方程与平衡方程,分析了其差速特性与力学特性,得到了驱动单元能够根据环境拓扑约束自主差速,驱动轮能够提供足够的拖动力,具有良好的机械自适应特性。并且驱动单元在通过弯管的各个阶段,各行走轮运动协调,无寄生功率产生,驱动效率高。

Research of Curved Pipe' s Passing Nature About A New Pipe Rust Maching

In order to describe curved pipe’s passing nature about the pipe rust machine’s drivers unit,establishing motion equations and balance equation in the curved pipe for the pipe rust machine,analysing it’s differential characteristics and mechanics characteristics,obtaining topology self-restraint differential According to environmental for drivers unit,Drivers wheel can Provide enough drag power,having a good self-adaptive characteristics of mechanical.and all stages through curved pipe of drivers unit,All walking wheel motor coordination,no producing parasitic power,High drivers efficiency.