摘要
介绍了海底石油管道检测机器人系统组成,详细分析了超声检测柔性无级变径方案,论述了平行四边形机构实现对3种内径的石油管道进行超声变径检测的可能性。特别是对超声检测柔性无级变径系统的重要部件拉伸弹簧进行了参数优化,对超声变径检测装置的设计具有重要指导意义。
This paper describes the constituent parts of a robot for subsea pipeline inspection （ also called intelligent pigs）. It discusses an infinitely variable-diameter system for ultrasonic inspection and analyzes the possibility to realize variable-diameter ultrasonic inspection of the oil pipelines of three inner diameters through using a parallelogram mechanism. In particular it optimizes the parameters of the extension spring that is a crucial part in such a flexible infinitely variable-diameter system.
出处
《机械科学与技术》
CSCD
北大核心
2006年第7期865-868,共4页
Mechanical Science and Technology for Aerospace Engineering
基金
国家863重大专题项目(2001LIAALI602021)资助
关键词
海底石油管道
超声检测
无级变径
拉伸弹簧
subsea oil pipeline
ultrasonic inspection
infinitely variable diameters
extension spring
