小口径管内机器人技术的研究进展

摘要/Abstract

摘要：

从小口径管内机器人的特殊应用场合出发,针对无流体管道工作环境,将小口径管内机器人按运动方式概括为轮式、蠕动式与振动式三种类型,以驱动源为分类标准详细介绍了各种小口径管内机器人的发展过程与研究现状,并对其优缺点及适用场合予以分类讨论。在此基础上将小口径管内机器人技术的研究发展分为四个阶段,依次为移动机构的设计与优化、特殊传感器的设计、能源与信号传输的无缆化,以及自主控制的实现,明确了小口径管内机器人技术发展的研究内容。

关键词:

小口径, 管内机器人, 移动方式, 驱动方式

Abstract:

Based on special application occasions,the small in-pipe robots working in the non-liquid pipes were divided into three types,wheel type,inchworm type and quiver type.Then,each type was classified again by different drivers,whose development process,present status,advantages,shortages and application situation were described particularly.After this,the research of small in-pipe robotics was separated into four stages,which indicated the design and optimization of locomotive mechanism,the design of special sensors,realization of wireless energy and signal transmission and self control.It has successfully made the research work of small in-pipe robots clear.

Key words:

small diameter, in-pipe robot, moving mode, driving mode

中图分类号:

TP24

乔晋崴, 尚建忠, 陈, 循, 罗自荣.

小口径管内机器人技术的研究进展

[J]. 中国机械工程, 2010, 21(10): 1254-1259.

JIAO Jin-Wai, CHANG Jian-Zhong, CHEN,XUN,LUO Zi-Rong.

Research and Development of Small In-pipe Robots

[J]. China Mechanical Engineering, 2010, 21(10): 1254-1259.

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链接本文: http://www.cmemo.org.cn/CN/

http://www.cmemo.org.cn/CN/Y2010/V21/I10/1254

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