可变径煤矿管道检测机器人的设计  

Design of variable diameter detection robot for colliery pipes

作　　者：张峰[1] 

机构地区：[1]中国矿业大学应用技术学院,江苏徐州221108

出　　处：《矿山机械》2011年第8期116-119,共4页Mining & Processing Equipment

基　　金：国家自然科学基金资助项目(61005089)

摘　　要：在煤矿生产中使用大量的管道,其质量关系到整个煤矿的安全和高效生产。为提高管道寿命,预防管道老化、腐蚀及断裂等问题,并实现高效准确地故障诊断,笔者设计了一种可变径管道检测机器人,并建立了机器人三维模型,利用ADAMS对其进行运动仿真,从而验证了机器人在直径为220-300mm的管道中自由行走和检测的可行性。Plenty of pipes are used in collieries, their quality relates to the safe and efficient production in collieries. In order to enhance the pipe lifespan and prevent the aging, corrosion and breaking of the pipe so as to realize the accurate and efficient fault diagnosis, a kind of variable diameter detection robot for colliery pipes is designed. In addition, a 3D model of the robot is built, and the kinematic simulation is carried out by ADAMS. The results show that the robot is able to freely walk and detect faults in pipes whose diameter ranging from 220 mm to 300 mm.

关 键 词：管道检测机器人 可变径管道 三维建模 运动分析 

分 类 号：TD50[矿业工程—矿山机电] TP242[自动化与计算机技术—检测技术与自动化装置]