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采用对称分布的两组曲柄滑块机构,设计了管道爬行机器人机构,既保持了机构的对称性,又增加了滑块的移动距离。其防逆方法采用楔形块挤压自锁。该机构成功地解决了管道爬行机器人的双向自锁和双向移动问题。采用棘轮机构对曲柄实施单向运动控制,通过电机的正转和反转来控制机器人的前进和倒退,使机器人能在管道内平稳移动。
Two groups of crank-slider mechanism with symmetrical distribution were used to design a pipeline crawling robot mechanism, which not only maintained the symmetry of the mechanism but also increased the moving distance of the slider. The anti-counterfeit method using wedge block squeeze self-locking. The agency successfully solved the two-way self-locking pipelines crawling robot and two-way movement problem. A ratchet mechanism is used to control one-way movement of the crank. The forward and backward movement of the robot is controlled by forward and reverse rotation of the motor, so that the robot can move smoothly in the pipeline.