管道内部智能喷涂机器人设计及试验分析  

Design and experimental analysis of intelligent spraying robot used in pipeline

作　　者：刘斌[1] 李玮[1] 谭振华 李取云 王钧 郭志伟 LIU Bin;LI Wei;TAN Zhenhua;LI Quyun;WANG Jun;GUO Zhiwei(School of Machinery and Transportation,Southwest Forestry University,Kunming 650224)

机构地区：[1]西南林业大学机械与交通学院,云南昆明650224

出　　处：《机械设计》2025年第3期95-104,共10页Journal of Machine Design

基　　金：云南省教育厅科学研究基金项目(2022Y569)。

摘　　要：在管道的安装环节采用焊接等工艺连接管道时会导致焊缝处原有防锈、防腐涂料脱落,为了防止焊缝处会发生锈蚀、腐蚀等问题致使管道破损,需要对管道进行二次涂料喷涂;针对在大型管道喷涂中多采用人工喷涂,但小口径管道人员无法进入及喷涂环境对操作人员产生健康隐患等问题,文中基于图像处理、机电液一体化控制技术设计了一款适用于管径300~600 mm的管道内部智能喷涂机器人解决上述问题。首先,对该机器人的总体结构进行模块化设计,分别从行进运动模块、喷涂模块及风干模块等方面进行设计;其次,对其机械结构进行动态特性分析,确定所设计管道内部喷涂机器人结构的合理性;最后,通过样机喷涂试验验证其可行性。试验结果表明:样机行进稳定,喷涂层均匀,可实现快速风干等功能,总体达到了设计要求,解决了小口径管道焊接工艺导致的内部防锈、防腐等难题,对管道连接应用提供了技术支持,提高了管道使用寿命和运输安全性。When the pipeline is connected by welding and other processes in the pipeline-installation process,the original anti-rust and anti-corrosion coating at the weld will fall off.In order to prevent the pipeline from being damaged due to rust and corrosion at the weld,it is necessary to spray the pipeline with secondary coating.Manual spraying is often used for large pipelines.However,those pipelines with small diameters cannot be accessed manually,and the spraying environment has health risks for operators.In this article,with the help of image processing and the mechatronic control technology,an intelligent spraying robot is designed,which is used for those pipelines with 300~600 mm diameters.Firstly,the robot’s overall structure is modularized,including the moving module,the spraying module and the air-drying module.Secondly,the dynamic characteristics of the robot’s mechanical structure are analyzed,so as to verify whether the robot is designed in a reasonable way and whether it can be used in the pipeline.Finally,the prototype is subjected to the spraying test,and it is verified that the robot is feasible.The results show that the prototype runs smoothly,spraying is done uniformly,and such function as rapid air-drying is ensured.As a result,the robot meets the design requirements.This intelligent spraying robot is helpful to solve the problems of small-diameter pipelines’internal rust and corrosion caused by welding.This study provides technical support for pipeline connection as well as improves service life and transportation safety of pipelines.

关 键 词：机器人 管道喷涂 设计 试验分析 智能 

分 类 号：TH112[机械工程—机械设计及理论]