管道机器人的变径研究  

Research on Variable Diameter of Pipeline Robot

作　　者：汤方丽 温腾 王敬伊 王达理 李明悦 Tang Fangli;Wen Teng;Wang Jingyi;Wang Dali;Li Mingyue(Shenyang Institute of Science and Technology,Shenyang,Liaoning 110167,CHN)

机构地区：[1]沈阳科技学院机械工程系,辽宁沈阳110167

出　　处：《模具制造》2023年第8期267-269,共3页Die & Mould Manufacture

摘　　要：本文针对管道机器人的管道变径自适应能力,讨论了不同领域的管道机器人结构设计以及功能实现的不同方式。如无动力机器人与管道内壁配合的变换、轮式或履带式机器人通过调整轮系与履带位姿实现变径、仿生式管道机器人通过改变自身形态实现与管径的自适应。本文对这些方法的优点和缺点进行了讨论,对管道机器人的自适应结构设计和研究提供了思路。This article discusses the structural design and functional implementation of pipe⁃line robots in different fields,focusing on their pipeline diameter adaptation ability.For ex⁃ample,the transformation of the cooperation between unpowered robots and the inner wall of pipelines,the wheel or tracked robots achieve diameter change by adjusting the gear train and track posture,and the bionic pipeline robots adapt to the diameter of pipelines by changing their own shape.This article discusses the advantages and disadvantages of these methods,pro⁃viding ideas for the adaptive structural design and research of pipeline robots.

关 键 词：管道清淤机器人 自适应 管道检测机器人 

分 类 号：TE98[石油与天然气工程—石油机械设备]