| 摘要: |
| 针对管道检测牵引装置驱动系统中没有差动机构而引起的通过弯管时产生运动干涉的问题，将差动机构应用 于管道检测牵引装置中。通过对差动机构进行理论分析，建立该轮系的力矩传递方程;利用ADAMS软件建立差动 机构的样机模型并进行仿真分析。结果表明，具有差动机构的管道检测牵引装置驱动单元结构简单、驱动效率高、功率体积比大,可实现机械自适应功能。 |
| 关键词: 管道检测牵引装置 差动机构 力矩传递 仿真分析 自适应分析 |
| DOI：10.3969/j.issn.1673-5005.2012.02.027 |
| 分类号::TH 112 |
| 基金项目:国家“863”计划项目(2005AA6022iO;20U AA090301) |
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| Adaptive control characteristics of pipeline inspection traction device |
|
SHI Yong-jin1,2,TANG De-wei3
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(1. College of Electromechanical Engineering in China University of Petrokwn, Qingdao 266580, China;2. Drilling Technology Research institute in Shengli Oilfield, Dongying 257017, China;3. School of Mechatrordcs Engineering in Harbin Institute of Technology，Harbin 150006, China)
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| Abstract: |
| Without differential mechanism in the drive system of pipeline inspection traction device? locomotion interference can be produced anciently when the robot is getting across the elbow. The Iri-axial differential gearing system was applied to the traction device. The equations of momentum transfer in tri-axial differential gearing system were set up via theoiy analysis. The model of prototype machine was set up through ADAMS software and the simulation analysis w於 earned out. The results show that ihe traetion device with differential mechanism has simple roniiguration of the drive cell, high drive efficiency, big ratio of power and cubage, and can achieve the function of mechanical self adapting. |
| Key words: pipeline inspection traction device? differential gearing system momentum transfer simulation analysis adaptive analysis |
