一种大型货轮管道系统探测机器人的研制  

Manufacture of Pipeline System Detecting Robot for Large Cargo Ship

作　　者：蒋梦龙 孙雯 金志鹏 温慧滢 王义斌[1] 陈姣[1] JIANG Menglong;SUN Wen;JIN Zhipeng;WEN Huiying;WANG Yibin;CHEN Jiao(College of Mechanical and Electrical Engineering,Hohai University,Changzhou 213000,China)

机构地区：[1]河海大学机电工程学院,江苏常州213000

出　　处：《机械制造与自动化》2020年第5期157-160,共4页Machine Building & Automation

基　　金：2018年度国家级大学生创新训练项目(201910294104z)。

摘　　要：大型货轮上的管道内壁由于常年受到腐蚀,需要对其进行定期检查。但现有的检查技术无法适应复杂的管道结构。根据货轮管道检查的实际需要,设计能够适应货轮管道环境的机器人结构,通过力学分析建立了一种管道机器人的三维模型,根据三维模型加工制作了实物样机。样机试验结果表明,该机器人能够在水平、竖直、弯曲、变径管道中对内壁有效地进行探测检查。The inner wall of pipeline on large cargo ship has to be inspected periodically because of corrosion all year round.It is hard to inspect the complex pipeline by now inspection method.According to the reguirements of inspecting the cargo pipeline inner wall,this paper designs a robot which can be suitable for the pipeline environment inspection.The three-dimensional model is established according to the mechanical analysis,then,the model machine is manufactured.The experimental results show that the robot can be used to effectively inspect the inner wall of horizontal,vertical,winding and reduced pipeline.

关 键 词：大型货轮 管道系统 探测机器人 内壁检查 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]