[1]黎 华,倪进飞,杨 波.支撑式管内移动机器人设计与管内通过性试验研究[J].机械与电子,2017,(11):76-80.
　LI Hua,NI Jinfei,YANG Bo.Research on Design and Trafficability of In-Pipe Mobile Robot[J].Machinery & Electronics,2017,(11):76-80.
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支撑式管内移动机器人设计与管内通过性试验研究
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2017年11期
页码:
76-80
栏目:
智能工程
出版日期:
2017-11-25

文章信息/Info

Title:
Research on Design and Trafficability of In-Pipe Mobile Robot
文章编号:
1001-2257(2017)11-0076-05
作者:
黎 华; 倪进飞; 杨 波
(广州特种承压设备检测研究院,广东 广州 510663)
Author(s):
LI Hua; NI Jinfei; YANG Bo
(Guangzhou Special Pressure Equipment Inspection and Research Institute, Guangzhou 510663,China)
关键词:
管内机器人;  控制系统;  管道通过性试验
Keywords:
in-pipe robot;  control system;  pipe trafficability test
分类号:
TP242.2
文献标志码:
A
摘要:
针对管道检测作业对管内移动机器人的运动需求,设计了一种管道内移动机器人的控制系统,并进行管内通过性试验研究。首先,根据管内作业环境特点,提出结构设计方案。其次,分析机器人功能需求,设计控制系统硬件方案,在C++编程环境进行上位机程序和控制器程序编制。最后,搭建样机,进行45°管接头和90°管接头的通过性试验。结果表明,所设计的机器人可以顺利通过45°管接头和90°管接头; 机器人的支撑弹簧力的峰值出现在机器人通过管接头中央直径最小处,45°管接头时弹簧力峰值为205 N,90°管接头时弹簧力峰值为247 N,而且稳态值约是弹簧力峰值的70%,由此验证了设计的有效性。
Abstract:
A control system of in-pipe robot is designed in this paper to meet the demand of movement of the mobile robot in detecting the pipeline, and the in-pipe trafficability test is also performed. Firstly, the structural design plan was put forward according to the working environment of in-pipe robot. Then, based on the motion control requirements of the robot, the control system hardware was selected elaborately, and under the programming environment of C++, the host PC program and the controller program were composited. Finally, the model machine was produced, through which, the 45° pipe connector and the 90° pipe connector's trafficability test were conducted. The experimental results show that the robot can pass through the 45° pipe connector and the 90° pipe connector smoothly; The peak value of the robot supporting spring force appears at the minimum diameter of the pipe connector, among which, the maximum value of passing through a 45° pipe connector is 205 N, and the 90° pipe connector is 247 N. For both conditions, the steady values are about 70% of the spring force peak value. In conclusion, the validity and rationality of the robot design and control system design are verified.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2017-07-11
作者简介:黎 华(1964-),男,广西博白人,教授级高级工程师,研究方向为特种承压设备检验检测及失效分析; 倪进飞(1971-),男,安徽无为人,高级工程师,研究方向为电站锅炉检验检测及失效分析; 杨 波(1983-),男,湖南益阳人,高级工程师,研究方向为特种承压设备安全节能及系统性风险分析。
更新日期/Last Update: 2017-11-25