中国机械工程2018，Vol.29Issue(1)：21-29,9.DOI:10.3969/j.issn.1004-132X.2018.01.004
一种管道机器人的自适应主动螺旋式驱动机理分析
Adaptive Active Screw Driving Mechanism Analysis for Pipeline Robots
摘要
Abstract
The crawling conditions of variable pipeline robots were analyzed,and an adaptive creeping device driven by a micro-hydraulic was proposed herein.First of all,the three-axis motions in different speeds of the drive wheels and that of drive wheels'angles were realized by means of driving method,which allowed the device to meet the turning requirements.Secondly,the method of limiting the power outputs was proposed by adjusting the flow rates of the corresponding branch when the drive wheels slip and idle.so that the driven system might maintain the required torques steadily.Thirdly,the changes of the load might be perceived by the signals of internal work pressures in the system during the movement,the signals might also adjust the angles of each corner cylinder to achieve mutual conversion from traditional drive to spiral drive;adjust the overall load capacity of the crawler to adapt to the changing external load conditions during the movement.Finally,the load regulation and differential motion mechanism of the device were simulated by virtual prototype technology.关键词
变径管道/自适应的/液压驱动/主动螺旋式驱动/三轴差速运动Key words
variable pipeline/adaptive/hydraulic drive/active screw drive/three-axis differential movement.分类
矿业与冶金引用本文复制引用
闫宏伟,焦彪彪,马建强,崔子梓,汪洋..一种管道机器人的自适应主动螺旋式驱动机理分析[J].中国机械工程,2018,29(1):21-29,9.基金项目
山西省重点研发计划社会发展资助项目(201603D321117) （201603D321117）
山西省自然科学基金资助项目(2013011026-2) （2013011026-2）
国家高技术研究发展计划(863计划)资助项目(2008AA06A415) （863计划）
