管道机器人移动牵引机构设计

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The pipeline inspection robot is a hot topic in current domestic and international oil and gas pipeline special robotics research fields. This paper presents the design of a wriggle style mobile traction mechanism of pipeline inspection robot, this mechanism adopts motor-driven screw rotation and screw nut on the screw moving forward program, both front and rear support leg arm alternately prop wall and the entire mechanism achieves wriggle forward. Also, this paper gives the design of electrical control system of the move traction mechanism. The feasibility of the entire robot system program has been verified in a simulated environment.管道机器人是特种机器人研究领域中的热点。该文设计了管道机器人蠕动式移动牵弓f机构，采用电机驱动丝杠正反转，丝杠上丝杠螺母前移，前后两组支撑腿臂交替支撑住管壁，从而实现了机器人的蠕动式前行的驱动方案，并设计了该系统的电控部分。模拟管道中的实验验证了该方案的可行性。