| 管内机器人检测系统设计的关键技术 |
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| 引用本文： | 陈军,邓宗全,姜生元.管内机器人检测系统设计的关键技术[J].哈尔滨工业大学学报,2008,40(11):1741-1745. |
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| 作者姓名： | 陈军 邓宗全 姜生元 |
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| 作者单位： | [1]哈尔滨工业大学（威海）船舶学院,山东威海264209 [2]哈尔滨工业大学机电学院,哈尔滨150001 [3]北华大学机械工程学院,吉林吉林132021 |
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| 基金项目： | 国家高技术研究发展计划(863计划)
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哈工大(威海)校基金
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| 摘 要： | 研制了用于检测输油管道内壁缺陷的无缆管内机器人检测系统,给出了模块单元串联结构系统组成及实现要求.机器人采用六支撑轮移动机构,通过电驱动行走实现对缺陷位置的精确定位;分析了模块单元两种铰接结构设计及对布线的影响;详细研究了机器人电控系统的结构设计及试验方案,以及提高机器人结构可靠性的具体设计方法及解决措施.样机试验验证了机器人关键技术设计的可行性与有效性,奠定了在特殊环境下的应用基础.
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| 关 键 词： | 管内机器人 检测系统 模块单元 全驱动 |
Key technology in design of in-pipe robot inspecting system |
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| CHEN Jun,DENG Zong-quan,JIANG Sheng-yuan.Key technology in design of in-pipe robot inspecting system[J].Journal of Harbin Institute of Technology,2008,40(11):1741-1745. |
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| Authors: | CHEN Jun DENG Zong-quan JIANG Sheng-yuan |
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| Affiliation: | 1.School of Shipbuilding Engineering,Harbin Institute of Technology at Weihai,Weihai 264209,China;2.School of Mechtronic Engineering,Harbin Institute of Technology,Harbin 150001,China;3.College of Mechanical Engineering,Beihua University,Jilin 132021,China) |
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| Abstract: | The wireless in-pipe robot inspecting system was developed for inspecting the inner surface of oil pipeline,the system composing of modular units series connection structure and its implement demand were given as well.Six supporting wheels were adopted for robot locomotion mechanism,and the precision location of defects was located through motor drive.The structure design of two gemel connections for modular unit and its influence on cabling were analyzed.The structural design and experimental plan of the robot control system,and the specific design methods and solutions to improve the reliability of the robot structure were researched in details.The robot prototype experiments were conducted to demonstrate the effectiveness of the key technology design,which provides the basis for applications of robots in the special enviroment. |
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| Keywords: | in-pipe robot inspecting system modular unit six wheel drive |
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