内管道直径自适应机制及牵引力的自动调整外文翻译.doc

英文文献原文 3.1 Pipe diameter adaptive mechanism The pipe diameter adaptive mechanism is the actuator of active adaptation to pipe diameter and adjustment of tractive force. It is composed of three sets of parallelogram wheeled legs circumferentially spaced out 120 apart symmetrically. Each parallelogram wheeled leg has a front driving wheel and a rear driving wheel. Fig. 2 illustrates the one of three sets. The operation of the pipe diameter adaptive mechanism is driven by a step motor with convenience to be controlled. This motor is called the adjusting motor. Under the control of motor driver, the adjusting motor drives rotation of the ballscrew pair which can push three sets of parallelogram wheeled legs to make driving wheels contact to inner wall of pipe, or adjust the pressure between driving wheels and pipe wall. This structural design makes it possible to realize the adaptability to pipe diameter and tractive force adjusting together, and the pipe diameter adaptive mechanism with this structure can realize adjustment in a wide range. The nut of ballscrew, pressure sensor and axial sliding bush are connected together by screw bolts. The pressure sensor, which may test the sum of pressures between all the driving wheels and pipe wall indirectly, is useful for the control of pressing the driving wheels against the pipe wall with a stable pressure to obtain sufficient and stable tractive force, and on the other hand, can provide overload protection to prevent the mechanism overloading. As in Fig. 2, R is the radius of the robot, R1 is the radius of a pipe, h denotes the height from the central axis of the inspection robot to supporting point D, r is the radius of a driving wheel, L is the length of link CD, L1 is the distance between point D and pointM, L2 is the length of link MN, a is the included angles between link CD and axis X, b is the included angles between link MN and axis X, and F denotes the thrust force of mechanism motion, which is caused by the rotat