A bristle-based pipeline robot for ill-constraint pipes
A bristle-based pipeline robot for ill-constraint pipes
复制标题
用于不良约束管道的基于刚毛的管道机器人
DOI：
10.1109/tmech.2008.924133
复制
发表时间：
2008-06-01
影响因子：
6.4
通讯作者：
Gu, Hong
中科院分区：
文献类型：
--
作者：
Wang, Zhelong;Gu, Hong
本文介绍了一种基于刚毛机构的管道机器人的研究。刚毛机构显示出极大的灵活性，使管道机器人能够在约束不良的管道中工作，这是以前被认为是不可清管或不可检查的。阐述了管道机器人的工作原理，并对刷毛机构进行了深入分析。建立了刷毛牵引力模型，并基于欧拉屈曲理论对刷毛牵引力进行了近似计算。采用单根刷毛进行了近似计算和仿真。对刷毛牵引力进行了实验室实验，并将实验结果与计算结果进行了比较。实验结果验证了刷毛牵引力模型的有效性。在不良约束管道中进行了刷毛管道机器人的现场试验，试验结果表明了刷毛机构的灵活性和适应性。最后对管道刷式机器人的研究方向和关键问题进行了展望。
This paper presents the study of a pipeline robot based on a bristle mechanism. The bristle mechanism shows great flexibility and makes the pipeline robot to be able to work in ill-constraint pipes, which were previously considered as unpiggable or uninspectable. The working principle of pipeline robot is illustrated and the bristle mechanism is given in-depth analysis. Bristle traction force model is set up and the approximate calculation of bristle traction force based on Euler buckling theory is also described. The approximate calculation is conducted and simulated by using one single bristle. A laboratory experiment of bristle traction force is carried out and then the experimental result is compared with the calculation result. The experimental result shows the validity of bristle traction force model. Field trials of brush pipeline robots are also conducted in ill-constraint pipes and trial results show the flexibility and adaptability of the bristle mechanism. Future work and key issues in the research of brush pipeline robots are discussed at the end of the paper.