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提出了一种管道机器人爬行机构,以西气东输的管道参数为背景,对连杆机构在管道爬行的原理进行了详细的阐述。该爬行机构以简单的曲柄滑块机构和平行四边形机构为基础,经过简单的变异、组合,实现了机构在管道中的前行和换向,并具有很好的自锁和变径功能。结果表明,该机构具有很好的应用前景。
A crawling mechanism for pipeline robot is proposed. Based on the pipeline parameters of the West-East Gas Pipeline, the principle of crawling the link mechanism in pipeline is described in detail. The crawler mechanism is based on a simple crank-slider mechanism and a parallelogram-shaped mechanism. After a simple variation and combination, the crawler mechanism realizes the advancement and reversal of the mechanism in the pipeline and has good self-locking and variable-diameter functions. The results show that the agency has good application prospects.