管道机器人的驱动单元工艺优化设计

摘要

驱动单元的驱动特性和可靠性决定管道机器人的工作效率及其工作能力，由于对管道机器人三轴差速驱动单元的优化大部分都由电脑仿真来完成，但是在制造、装配阶段还是会导致差速不准、功率过大等问题。因此本文通过对三轴差速器工艺的优化，解决了工艺当中的公差分配问题，降低了零件的工艺难度，建立了十字轴垂直度误差对啮合质量和轴向调正间隙的函数关系。%The driving characteristics and reliability of the drive unit determine the working efficiency of the pipeline robot and its working ability,as a result of the optimization of pipeline robot tri-axial differential drive unit mostly are done by computer simulation,but in the manufacturing and assembly phase will lead to inaccurate differential,too much power. So in this paper,through optimizing the tri-axial differential technology,solving the problem of tolerance allocation among technology,reducing the parts of the technology difficulty,cross axis perpendicularity error on the meshing quality and a function of the axial adjustment clearance is established.