一种可越过管内凹形障碍的双驱动多轮移动载体的研究

本文在轮式和履带式管内行走机构的基础上，提出了一种新的管内行走机构，它利用两个电机分别驱动均布在机架上的与管内壁用弹簧力封闭的两组６个行进轮，从周向来看，３组驱动轮分别均布在３组平行四边形机构上，巧妙的把轮式和履带式管内行走机构结合在一起，使机构具有很好的越障能力．该机构紧凑，驱动效率高，工作可靠，尤其适用于管内壁有内凹障碍的管内环境．

A MOBILE CARRIER WITH TWO MOTORS DRIVING MULTI FULL TRACTION WHEELS SUITABLE TO GO ACROSS CONCAVE BARRIER INSIDE PIPELINE

In this paper, a new in pipe mobile carrier mechanism is presented on the basis of wheel type and crawler type in pipe mobile mechanism. It uses two motors to drive two sets of six wheels at the front and the rear respectively. The wheels are distributed symmetrically on the robot body and are pushed against the inside wall of pipe by spring force. Viewd from circumferential direction, the wheels are distributed on three sets of parallelograms, combining the wheel type and crawler type in pipe mobile mechanism skillfully. Therefore the robot mechanism has a very good capability to traverse barriers. This robotic mobile carrier has high efficiency, and can work reliably. Its structure is particularly suitable to the inside pipe wall where concave barriers exist .