三轴差动式管道机器人机械自适应驱动技术

为解决管道内轮式移动机器人通过弯管时的运动干涉问题，减小因滑动摩擦而引起的磨损，提高该类机器人的使用寿命，提出一种具有管道自适应能力的轮式管道机器人驱动技术——三轴差动驱动技术。通过对三轴差动式管道机器人过弯管时内部传动系统的运动关系和力矩传递关系的理论分析及内部功率流向的深入研究，建立三轴差速轮系的力矩传递关系的数学模型，推导传递效率的理论计算公式，并证明该驱动技术驱动效率高，功率体积比大。

Mechanical Self-adaptive Drive Technology of Triaxial Differential Pipe-robot

In order to solve the problem of locomotion interference for the roller pipe-robot when getting across a bend pipe, reduce the abrasion because of sliding frication and improve the service life of this kind of robots, a drive technology of roller pipe-robot with self-adaptive ability which is named triaxial differential drive technology is presented. After theoretical analysis on motion relation and torque transmission relation between parts of pipe-robot’s internal transmission system and in-depth research on internal power flow direction, mathematical models of torque transmission relation are established, the theoretical formula of transmission efficiency is deduced, and the high drive efficiency and big power to volume ratio of this drive technology are proved .