山东理工大学学报（自然科学版）2025，Vol.39Issue(3)：64-69,6.
一种多方式检测的管道机器人设计及仿真
Design and simulation of pipeline robot for multi-mode inspection
摘要
Abstract
In order to improve the efficiency of pipeline inspection and maintenance while minimizing the risk of manual operation,a pipeline robot for use in pipelines of internal diameter ranging from 200 mm to 300 mm was designed considering the complexity of pipeline detection.The robot is equipped with an anti-retrofitting mechanism in its driving wheel and a steering mechanism to guide the steering.To address the issues of inaccurate detection results from single detection method,three detection methods including camera image acquisition detection,laser detection and electromagnetic ultrasonic detection were set up to jointly inspect the pipeline defects.On this basis,the force analysis of the pipeline robot is carried out,and the finite element simulation analysis of the key components is carried out to verify the reliability of the key components.Finally,the motion simulation analysis is carried out on the pipeline with an inner diameter of 300 mm under SolidWorks software environment to evaluate the feasibility and structural reliability of the steering function of the pipeline robot.The results show that under the critical pressure,the robot's component have sufficient strength to enable smooth steering and running in the pipeline with an inner diameter of 300 mm.关键词
管道机器人/转向机构/变径机构/仿真分析Key words
pipeline robot/steering mechanism/diameter-changing mechanism/simulation analysis分类
信息技术与安全科学引用本文复制引用
窦传新,翟世荣,赵雷雷..一种多方式检测的管道机器人设计及仿真[J].山东理工大学学报（自然科学版）,2025,39(3):64-69,6.基金项目
山东省重点扶持区域引进急需紧缺人才项目(2022-30) （2022-30）
