履带机器人驱动机构及关节机构设计【救灾机器人】【含CAD图纸、说明书】履带机器人驱动机构及关节机构设计【救灾机器人】【含CAD图纸、说明书】

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英文文献翻译 学 生 姓 名 学 院 专业及班级 学 号 指 导 教 师 Simple structure pipe inspection robot This article describes the architecture of the original pipe inspection robot. The robot contains two universal joints by the hinge portion. Part of the parallel movement along the pipeline axis wheel drive, while the other part is forced to follow the axis of rotation of the wheel and the inclined pipe spiral motion related. A single motor is placed between the two institutions motion generated. All wheels mounted on the suspension, in order to adapt to changing curve pipe. The robot has its own battery and a wireless link. Four different diameters respectively of 170,70 and 40 mm. For smaller diameters, battery, radio receiver can be placed in any extra bodies. This architecture is very simple, its rotational motion can be used to scrub or inspection tasks. Keywords autonomous mobile robot in pipeline inspection, spiral motion Pipeline inspection robot has been studied for a long time, many of the original motion ideas have been proposed to solve the many technical difficulties in pipe diameter, curve and change-related energy supply. Although an exhaustive review of the literature is impossible, according to the limited space available, several major categories can be identified several broad categories 1 For a small number of projects to follow the earthworm principles the central part axial movement, and both ends of the connected equipment with barrier pipes. This concept has been proposed pneumatic version, But they need the power cord. For smaller diameter 10 mm or less, according to the principle of inchworm, or driven by a sawtooth voltage based on inertial motion, or in combination with the differential coefficient of friction vibration fin, the piezoelectric drive. 2 For a variety of medium-sized pipes, depending on the diameter of adaptability and cornering ability classical electromechanical systems have been proposed various structures involved in the wheel tracks and kinematics. 3 For large pipes, pipe crawling walk has also been proposed. Four mobile robot proposed in this paper belongs to the second category, the liquidity of their tube diameter from 40 to 170mm, the design attempts to use a single drive to reduce the complexity of the realization of the machine along the tube, even though our research efforts can be seen as an independent to result. But this spiral theory seems to have been studied. The robot is divided into two parts, the stator and rotor, including a DC connection, motor and gearhead, universal joints. The stator is equipped with a set of wheels to help movement parallel; in this case, the constraint along the tube axis of the stator, the rotor wheel only along the helical path, the axial velocity and the relationship between the rotational speed of the robot Wherein R is the pipe radius, a is the inclination angle of the wheel. Stator and rotor must ensure stability, to ensure that the pipeline and sufficient contact force between the robot to adapt to changes and obstacles pipe diameter and allows travel in a curved pipe. For larger robot D -170, the robot is rigidly connected to the motor shaft to ensure stability. For smaller diameter, bend the need for greater freedom, requires twice the number of wheels. Diameter of 70 mm or more robots provide nine cells, located in the stator. Tests showed that the smaller diameter, this configuration is not possible. First by the rotor, and the second one includes a motor and gear, and the third is the stator wheel to the axle, energy supply and telecommunications networks. Two schemes were investigated 70mm diameter. In the first, a motor and a battery mounted on the stator, but can not be used in the second scenario, if the robot using a power cable. 中文翻译 简单结构管道检测机器人 本文介绍了管道检测机器人的原始架构。该机器人由包含两个万向节铰接部分。一部分是沿管道平行移动的轴车轮盘,而另一部分则是被迫遵循与螺旋运动有关的轴线旋转的车轮倾斜管。单台电动机被放置在两个机构之间产生的运动。所有车轮安装在悬架上,以适应不断变化的曲线管道。该机器人有其自己的电池和无线链路。四种不同管径分别为的170,70和40毫米。对于较小的直径,电池,无线电接收器,可放置在其他额外的机构中。这种架构非常简单,其旋转运动可以被利用来进行擦洗或检验任务。 关键词自主移动机器人,在管道检测,螺旋运动 管道检测机器人已经被研究了很长一段时间,许多原来的运动观念被提出来解决在管道直径,曲线和能源供应变化中有关的许多技术困难。虽然一个详尽的文献回顾是不可能的,根据有限的可用空间,几大类别,可确定几大类别 1对于小规模,许多项目遵循蚯蚓原则中央部分组成轴向移动,而两端连接的设备具有阻隔管道。这一概念已经提出气动版本, 但他们需要电力脐带。对于较小的直径(10毫米或更小),根据尺蠖的原则,或根据惯性运动由锯齿波电压驱动,或使用与微分摩擦系数振动鳍,则采用压电驱动。 2对于各种中型管道,根据直径的适应性和转弯能力古典机电系统已提出各种涉及车轮和轨道运动学结构。 3对于大型管道,管道爬行走路也已提出。 文中提出的四个移动机器人属于第二类,他们的管直径从40到170mm,该设计尝试使用单一驱动器减少机器的复杂性实现沿管的的流动性,即使我们的研究可看作一个独立努力地结果。但此螺旋论似乎已经被研究过。 该机器人主要分为两部分,定子和转子,包括一个DC连接,马达与减速机,万向节。定子配备了一套轮子,有助于运动平行; 在这种情形下,定子约束沿着管轴,而转子的车轮只能沿着螺旋轨迹,该机器人之间的轴向速度和旋转速度的关系 。 其中R为管道半径, a是车轮倾斜角度。定子和转子必须保证稳定性,以保证机器人之间的管道和足够的接触力,以适应管道直径的变化和障碍,并允许在弯曲的管道中行驶。对于更大型的机器人(D -170),机器人是硬性连接到电机轴上来确保稳定性。对于规模较小的直径,弯管需要更大程度的自由,需要两倍的数量的轮子。 直径70毫米以上的机器人提供了9个电池,分布在电机定子上。试验表明,对于规模较小的直径,这个配置是不可能的。第一个由转子组成,第二个包括电机和减速器,第三个是定子车轮与轴,能源供应和电信网络。两个方案进行了70mm直径的调查。在第一个中,马达和电池安装在定子上,但却无法用在第二个方案中,如果机器人使用缆索电源。
编号:20190413233749125    类型:共享资源    大小:1.19MB    格式:ZIP    上传时间:2019-04-13
  
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