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分析了弹簧腿管道机器人的力学特性和适应范围,以及丝杠螺母管道机器人的力学特性和通过性。通过比较这两种机器人的优缺点,综合其特点提出了弹簧丝杠管道机器人的机构设计方法,并分析了该机器人的通过性。分析得知,该机器人在越过障碍时,可以始终与管道内壁紧密接触,不仅可以使正压力始终保持在合适的范围内,而且增大了越障的成功率。
The mechanical characteristics and adaptability of the spring-legged pipeline robot are analyzed, as well as the mechanical properties and the passability of the screw-nut pipeline robot. By comparing the advantages and disadvantages of these two kinds of robots, the mechanical design method of the spring-lead screwdriver robot is put forward based on its characteristics, and the passage of the robot is analyzed. The analysis shows that the robot can keep in close contact with the inner wall of the pipeline when it crosses the obstacle, and not only can the positive pressure be maintained within the proper range at all times, but also the success rate of the obstacle is increased.