机械与电子2017，Vol.35Issue(11)：76-80,5.
支撑式管内移动机器人设计与管内通过性试验研究
Research on Design and Trafficability of In-Pipe Mobile Robot
黎华 1倪进飞 1杨波1
作者信息
- 1. 广州特种承压设备检测研究院,广东广州510663
- 折叠
摘要
Abstract
A control system of in-pipe robot is designed in this paper to meet the demand of movement of the mobile robot in detecting the pipeline,and the in-pipe trafficability test is also performed.Firstly,the structural design plan was put forward according to the working environment of in-pipe robot.Then,based on the motion control requirements of the robot,the control system hardware was selected elaborately,and under the programming environment of C++,the host PC program and the controller program were composited.Finally,the model machine was produced,through which,the 45° pipe connector and the 90° pipe connector's trafficability test were conducted.The experimental results show that the robot can pass through the 45° pipe connector and the 90° pipe connector smoothly;The peak value of the robot supporting spring force appears at the minimum diameter of the pipe connector,among which,the maximum value of passing through a 45° pipe connector is 205 N,and the 90° pipe connector is 247 N.For both conditions,the steady values are about 70％ of the spring force peak value.In conclusion,the validity and rationality of the robot design and control system design are verified.关键词
管内机器人/控制系统/管道通过性试验Key words
in-pipe robot/control system/pipe trafficability test分类
信息技术与安全科学引用本文复制引用
黎华,倪进飞,杨波..支撑式管内移动机器人设计与管内通过性试验研究[J].机械与电子,2017,35(11):76-80,5.
