全驱动小型管道机器人设计及其应用

Full-drive miniature pipe robot design and applications

摘要

针对在管道施工及运行维护过程中，由于管道排布密度大、管径小、长距离、湿滑、坡度起伏等因素造成的管道焊接内检、管内清理、焊口补漆、工程终检等很难或无法实现等问题，设计开发并优化了一种新型全驱动管道机器人平台结构，通过设计改进控制系统，设计小体积动力单元及架体结构，成功研制出体积小、适合小管径的驱动单元，有效提高了管道机器人的适应性和灵活性。试验和应用结果表明，该机器人在复杂管道环境下表现出良好的机动性与操控性能，能够实现对任意坡度的小口径管道进行全面检测与维护，有利于提高企业管理绩效。

Abstract

This paper addresses the issues in pipeline construction and operation & maintenance where factors such as high pipe density, small diameters, long distances, slippery surfaces, and uneven gradients make tasks like internal weld inspections, pipe cleaning, touch-up painting of welds, and final project inspections either extremely difficult or altogether impractical. In response, a novel fully-driven pipeline robot platform structure has been designed, developed, and optimized. This was achieved through enhancements to the control system design, the creation of a compact power unit, and an innovative frame structure, culminating in the successful fabrication of a small-volume drive unit suitable for narrow-diameter pipes, significantly enhancing the adaptability and maneuverability of the pipeline robot. Experimental and applied result demonstrate that the robot exhibits excellent maneuverability and operational performance in complex pipeline environments, enabling comprehensive inspection and maintenance of small-diameter pipelines with any gradient. This contributes to enhancing corporate management.

关键词

小口径管道 / 管道机器人 / 机器人设计 / 应用

Key words

small-diameter pipes / pipeline robots / robot design / application

Author summay

刘均波(1973—), 男, 教授, 博士, 主要研究材料表面改性和粉末冶金技术、工业机器人研究与应用。E-mail: [e-mail]

基金资助

中国水利水电科学研究院开发研究基金(IWHR-ENGI-202108)