履帶機(jī)器人驅(qū)動(dòng)機(jī)構(gòu)及關(guān)節(jié)機(jī)構(gòu)設(shè)計(jì)【救災(zāi)機(jī)器人】【含CAD圖紙、說明書】

英文文獻(xiàn)翻譯學(xué) 生 姓 名：學(xué) 院：專 業(yè) 及 班 級(jí) ：學(xué) 號(hào)：指 導(dǎo) 教 師：Simple structure pipe inspection robotThis 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 motionPipeline 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 robotWherein 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.中文翻譯：簡(jiǎn)單結(jié)構(gòu)管道檢測(cè)機(jī)器人本文介紹了管道檢測(cè)機(jī)器人的原始架構(gòu)。該機(jī)器人由包含兩個(gè)萬向節(jié)鉸接部分。一部分是沿管道平行移動(dòng)的軸車輪盤，而另一部分則是被迫遵循與螺旋運(yùn)動(dòng)有關(guān)的軸線旋轉(zhuǎn)的車輪傾斜管。單臺(tái)電動(dòng)機(jī)被放置在兩個(gè)機(jī)構(gòu)之間產(chǎn)生的運(yùn)動(dòng)。所有車輪安裝在懸架上，以適應(yīng)不斷變化的曲線管道。該機(jī)器人有其自己的電池和無線鏈路。四種不同管徑分別為的 170，70 和 40 毫米。對(duì)于較小的直徑，電池，無線電接收器，可放置在其他額外的機(jī)構(gòu)中。這種架構(gòu)非常簡(jiǎn)單，其旋轉(zhuǎn)運(yùn)動(dòng)可以被利用來進(jìn)行擦洗或檢驗(yàn)任務(wù)。關(guān)鍵詞：自主移動(dòng)機(jī)器人，在管道檢測(cè)，螺旋運(yùn)動(dòng)管道檢測(cè)機(jī)器人已經(jīng)被研究了很長(zhǎng)一段時(shí)間，許多原來的運(yùn)動(dòng)觀念被提出來解決在管道直徑，曲線和能源供應(yīng)變化中有關(guān)的許多技術(shù)困難。雖然一個(gè)詳盡的文獻(xiàn)回顧是不可能的，根據(jù)有限的可用空間，幾大類別，可確定幾大類別：1 對(duì)于小規(guī)模，許多項(xiàng)目遵循蚯蚓原則：中央部分組成軸向移動(dòng)，而兩端連接的設(shè)備具有阻隔管道。這一概念已經(jīng)提出氣動(dòng)版本，但他們需要電力臍帶。對(duì)于較小的直徑（10 毫米或更?。?，根據(jù)尺蠖的原則，或根據(jù)慣性運(yùn)動(dòng)由鋸齒波電壓驅(qū)動(dòng)，或使用與微分摩擦系數(shù)振動(dòng)鰭，則采用壓電驅(qū)動(dòng)。2 對(duì)于各種中型管道，根據(jù)直徑的適應(yīng)性和轉(zhuǎn)彎能力古典機(jī)電系統(tǒng)已提出各種涉及車輪和軌道運(yùn)動(dòng)學(xué)結(jié)構(gòu)。3 對(duì)于大型管道，管道爬行走路也已提出。文中提出的四個(gè)移動(dòng)機(jī)器人屬于第二類，他們的管直徑從 40 到 170mm，該設(shè)計(jì)嘗試使用單一驅(qū)動(dòng)器減少機(jī)器的復(fù)雜性實(shí)現(xiàn)沿管的的流動(dòng)性，即使我們的研究可看作一個(gè)獨(dú)立努力地結(jié)果。但此螺旋論似乎已經(jīng)被研究過。該機(jī)器人主要分為兩部分，定子和轉(zhuǎn)子，包括一個(gè) DC 連接，馬達(dá)與減速機(jī)，萬向節(jié)。定子配備了一套輪子，有助于運(yùn)動(dòng)平行; 在這種情形下，定子約束沿著管軸，而轉(zhuǎn)子的車輪只能沿著螺旋軌跡，該機(jī)器人之間的軸向速度和旋轉(zhuǎn)速度的關(guān)系 。tgRwv其中 R 為管道半徑, a 是車輪傾斜角度。定子和轉(zhuǎn)子必須保證穩(wěn)定性，以保證機(jī)器人之間的管道和足夠的接觸力，以適應(yīng)管道直徑的變化和障礙，并允許在彎曲的管道中行駛。對(duì)于更大型的機(jī)器人（D -170） ，機(jī)器人是硬性連接到電機(jī)軸上來確保穩(wěn)定性。對(duì)于規(guī)模較小的直徑，彎管需要更大程度的自由，需要兩倍的數(shù)量的輪子。直徑 70 毫米以上的機(jī)器人提供了 9 個(gè)電池，分布在電機(jī)定子上。試驗(yàn)表明，對(duì)于規(guī)模較小的直徑，這個(gè)配置是不可能的。第一個(gè)由轉(zhuǎn)子組成，第二個(gè)包括電機(jī)和減速器，第三個(gè)是定子車輪與軸，能源供應(yīng)和電信網(wǎng)絡(luò)。兩個(gè)方案進(jìn)行了 70mm 直徑的調(diào)查。在第一個(gè)中，馬達(dá)和電池安裝在定子上，但卻無法用在第二個(gè)方案中，如果機(jī)器人使用纜索電源。