摘要
笔者在分析管道机器人国内外发展现状基础上,针对管道机器人对不同管径需求,提出了一种双履带式可变径管道机器人的总体方案。设计了机器人的驱动装置、直径调节机构等关键部件,并设计了机器人的控制系统,该控制系统上采用了上、下位机控制结构,通过手动和自动2种控制模式,实现机器人无级调速、前进、后退、转弯和图像信息采集等功能。研究结果为可变径管道机器人的实用化开发奠定了基础。
After analyzing the current development status of the pipeline robot at home and abroad, since the pipeline robot has to adapt variable-diametered pipelines, the overall scheme of a dual-crawler variable-diametered pipeline robot was proposed. Key components of the robot such as the drive and the diameter regulating mechanism as well as the control system of the robot were designed. The control system included master computer and slave computer with manual control mode and automatic control mode, thus the robot could realize stepless speed control, moving forward and backward, steering and image collection etc. The research results laid foundations for practical development of the variable-diametered pipeline robot.
出处
《矿山机械》
北大核心
2013年第4期124-127,共4页
Mining & Processing Equipment
基金
河南省高校科技创新团队支持计划(2012IRTSTHN013)
河南省科技攻关项目(122102210435)
关键词
管道机器人
变管径
穿缆
控制系统
pipeline robot
variable-diametered pipeline
wire pulling
control system
