用于管道内部检查和测试的铰接式多车机器人

Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93) Pub Date : 1993-07-26 DOI:10.1109/IROS.1993.583154

S. Fujiwara, R. Kanehara, T. Okada, T. Sanemori

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引用次数: 42

摘要

作者描述了一种铰接式多车辆机器人的结构，用于管道内部的检查和测试。该机器人能够在直径为520-800毫米的管道内行走150米。两级气缸的输出压力与延伸特性、减少轮式超声波探头的波反射、包含光纤、空气管和电缆的脐带电缆组件是机器人的关键部件。在实验室对铰接机器人进行了测试，以评估其扫描性能。对焊缝纵向的无损检测结果表明，该机器人能够采集到焊缝周围的彩色图像，并将其高精度地传输到地面站的监视器上。

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An articulated multi-vehicle robot for inspection and testing of pipeline interiors

The authors describe the construction of an articulated multi-vehicle robot for inspection and testing of pipeline interiors. The robot is capable of traveling inside pipes of radius 520-800 mm diameter over a distance 150 m. Output pressure versus extension characteristics of the two-stage air cylinder, reduction of the wave reflection in a wheel-type ultrasonic probe, an umbilical cable assembly housing optical fibers, air tubes and electric cables are key elements of the robot. The articulated robot was tested in the laboratory to evaluate and the scanning performance. The results of the non-destructive test of a weld bead to the longitudinal direction show that the robot can pick up surrounding color images and transmit them to the ground station's monitor with high precision.

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Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)

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