【摘要】 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。更多还原

【Abstract】 This paper designs the pipeline crawling robot mechanism,which uses the two groups of symmetric distribution slider-crank mechanisms not only keeping the symmetry but also adding the slider movement distance.The method for preventing reverse is that the wedge piece of extrusion self-locked.The mechanism successfully solves the pipeline crawled robots two-way selflocking and two-way movement problems.Using the ratchet wheel organization control the crank unidirectional movement.Though the forward and backward rotations of the motor to control the robot advance and retreat smoothly.更多还原