管道内径在线检测机器人的结构设计

The Structural Design for Internal Diameter of The Pipeline Measured Robot

针对现有接触式管道内径测量机器人对长距离管道内径进行连续测量的不足,对一种非接触式管道内径在线检测机器人的机械结构进行了设计与研究。分析了机器人的越障能力及弯道处可能产生的运动干涉问题,进行了三维建模与运动仿真,验证了该机器人在管道内运动的稳定性、管道变径的自适应性及障碍与弯道的通过性。该机器人的最大优点是本体可以实现无缆、无自备动力源、利用无压重力水流驱动,实现对管道内径进行长距离在线测量。

The paper has designed a new kind of non-contact pipeline robot's structure, which covers the shortage of the existing contact pipeline robot for long distance continuous measuring. The paper has analysed obstacle performance of the robot and the motion interference when passing curved conduit. Through three-dimensional model and movement emulation, the paper proved that robot is stable in pipeline, is adaptive to the changing diameter of the pipeline, and has good performance passing the obstacle and curved conduit. The greatest advantage is that the robot is driven by gravitational force of the water, without cable or self-contained power source, so that the robot can realize the purpose of long distance measuring pipeline internal diameter online.