管道爬行机器人结构研究  

A study of the structure of a pipe crawling robot

作　　者：杜家熙[1] 宁李谱[2] 宁欣[2] 

机构地区：[1]河南省新乡市华兰大道河南科技学院机电系,453003 [2]河南科技学院,新乡453003

出　　处：《起重运输机械》2010年第5期58-60,共3页Hoisting and Conveying Machinery

基　　金：河南省教育厅科技攻关项目(2006520027)

摘　　要：设计了管道爬行机器人,其采用伸缩式伞形结构,可适应大范围内径变化的管道要求。采用吊篮可始终保持摄像装置与水平面平行,控制机身电机实现机腿的伸缩,使其能顺利通过十字型和丁字型等较复杂的管道,是一种实用有效的管道维修和维护探测装置。In this essay, a pipe crawling robot is designed that adopts a telescopic umbrella structure, which makes it well adapted to demanding requirements associated with big changes in the inside diameter of the pipe. The hanging basket used on the robot enables the camera unit to remain parallel to the horizontal plane all the time, and the motor dedicated to control of the robot body also realizes the stretching of the robot legs. These features enable the robot to pass smoothly through various types of pipe, including cruciform and tee-shaped pipes, thereby function as an effective device for pipeline repairs and maintenance.

关 键 词：管道爬行机器人 伸缩结构 伞形结构 吊篮装置 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]