摘要
提出一种具有轴向和周向探查功能的螺旋驱动管内机器人,该机器人基于采用单台电动机作为驱动源的可变约束机构。在此基础上提出一种摄像机载体平台结构,以使得螺旋驱动机器人能够稳定地观察到其前部的管道环境情况。通过控制电磁铁的状态来改变机器人的动力约束,使机器人交替地工作在驱动模式和探查模式下。在驱动模式下,机器人能驱动自身在管中前进或后退;在探查模式下,机器人可以仔细检查管道内壁缺陷,机器人通过两种状态的交替完成探测任务。该机器人具备轴向和周向的探测能力,能满足管内探查作业机器人化的需要,而且单台电动机的驱动方式降低了机器人系统的成本和运动控制系统的复杂性,试验结果验证了该机器人的移动能力和探测能力。
A screw drive robot equipped with only one DC motor and a solenoid is proposed for in-pipe inspection task,which has axial and circum-directional inspection ability. The robot is based on a constraint mechanism which only needs one DC motor and a solenoid. The developed platform which carries a CCD camera and provides the robot with stable axial inspection ability is also investigated. By controlling the motor and the solenoid to work or not,the force constraints acting on the robot change correspondingly. The robot thus has two working modes：under the driving mode the robot propels itself in the pipe,and it will check the defects of the pipe under the detecting mode. By switching these two working modes,the robot can perform the pipeline inspection task. Finally,experiments are conducted to testify the mobility and the inspecting ability of the robot.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2010年第21期19-28,共10页
Journal of Mechanical Engineering
基金
国家高技术研究发展计划资助项目(863计划
2006AA04Z230)
关键词
管内机器人
螺旋驱动
轴向和周向探测
可变约束机构
In-pipe robot Screw drive Axial and circum-directional inspection Variable constraint mechanism
