水库涵管检测用十字结构全向型管道机器人研究（英文）  

Study on omnidirectional pipeline robot with cross structure used in the reservoir culvert pipe detection

作　　者：徐高欢[1] 谢怡杰 张夏良 潘聪华[1] 

机构地区：[1]浙江水利水电学院机械与汽车工程学院,杭州310018

出　　处：《机床与液压》2016年第18期78-81,115,共5页Machine Tool & Hydraulics

基　　金：supported by the National College Students ’ Innovation and Entrepreneurship Projects (No. 201411481001);the Scientific and Technological Planning Project of Department of Water Resources of Zhejiang Province (No. RC1508);2015 Xin Miao Planning Project of Zhejiang Province

摘　　要：该管道机器人是为了提高地方水利员人工检测水库(山塘)涵管隐患的工作效率而设计的,做到机器换人,大幅度提高野外检测效率。水库涵管检测用十字结构全向型管道机器人的结构是由一个十字结构作为机器人的基本框架,在十字的各个驱动腿顶端安装驱动轮,可以根据管壁具体地形自适应变化。该机器人的通行平面是管道中心水平面,可以最大限度地避开山塘涵管淤泥问题,且能大幅度提高管道错位越障能力。The pipeline robot is designed to improve the work that the local water conservancy staff detect the problem of the reservoir culvert pipe. The machine substitutions will greatly improve the detection efficiency in outside. The omnidirectional pipeline robot has a cross structure which is the basic framework of the robot. The driving wheel,which is fixed on the top of each driving leg,can be changed adaptively according to the wall of the specific terrain. Pass the plane of the robot is the center of pipeline level,it could maximally avoid silt ponds culvert,and can greatly improve the pipeline dislocation climbing ability.

关 键 词：水库涵管 十字结构 全向型 管道机器人 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]