管道机器人投放回收装置的设计与研制

摘要

With the development of urban underground pipeline robots,dispensing and recovery mechanism for pipe robots in the vertical shaft becomes equally im.portant.On the basis of the research on different diameters shafts, different programs that delivering and recovering robots with different special sizes have been proposed.New dispensing and recovery mechanism has good controllability, and can satisfy the robots with different sizes rapid delivery and recovery.lt introduces the Composition and working principle of two different mechanisms using delivering and recovering, and designs the mechanism structure, meantime analyzing geometric constraints when the robots is in the vertical shaft.%与城市管道作业机器人研制同步,机器人在竖井中的投放与回收装置的设计与研制同样十分重要.针对不同口径的竖井,提出了基于不同空间尺寸作业机器人的投放回收装置的方案.新型投放回收装置具有很好的可控性,能够满足不同尺寸的作业机器人的快速投放与回收.介绍了两种投放回收装置的组成及工作原理,对装置的结构进行设计,并分析了其在竖井情形下的几何约束条件.