| Research on Oil/Gas In-pipe Inspection Robot |
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| 作者姓名： | 宋一然 颜国正 徐小云 |
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| 作者单位： | Dept. of Electronic and Information Eng.，Putian Univ.，Putian 351100，China，School of Electronic，Information and Electrical Eng.，Shanghai Jiaotong Univ .，Shanghai 200030，School of Electronic，Information and Electrical Eng.，Shanghai Jiaotong Univ .，Shanghai 200030 |
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| 基金项目： | High Technology Research and Development （863） Programe of China （ No. 2002AA442110）; The Cooperative Fund of Yunnan Province and Shanghai Jiaotong Univ. （No. 2001KABAA00A025） |
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| 摘 要： | IntroductionRecently pipe is used widely on the industry,agriculture and daily life. Natural gas and oil sup-ply become one of the fundamental public servicesand its impact on the urban infrastructure is get-ting larger. The urban oil/gas pipelines, as theyare buried under the ground, are prone to externalcorrosion usually derived by moisture and chemicalagent in soil, which causes material losses of thepipe wall. Also, cracks in the welded region andthe damages from third parties such as cons…
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| 关 键 词： | 机器人 管道 油气输送 可靠性分析 |
| 文章编号： | 1007-1172（2005）03-0221-05 |
| 收稿时间： | 2004-12-08 |
Research on Oil/Gas In-pipe Inspection Robot |
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| SONG Yi-ran,YAN Guo-zheng,XU Xiao-yun.Research on Oil/Gas In-pipe Inspection Robot[J].Journal of Shanghai Jiaotong university,2005,10(3):221-225. |
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| Authors: | SONG Yi-ran YAN Guo-zheng XU Xiao-yun |
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| Abstract: | A new type of in-pipe mobile robot was designed and developed on the basis of wheel in-pipe robot and crawler in-pipe robot. The three sets of driving wheels circumferentially 120° apart in the cross section, both front and rear driving wheels are distributed on the same parallelogram mechanism. The driving motor drives the three sets of driving wheels by worm couple, the regulating motor makes the three sets of driving wheels push against the pipe inwall with stable and adequate pressing force by the ball screw pair and pressure sensor, so the in-pipe robot can provide adequate and stable traction force. The robot mechanism is simple and small in size and work reliably. It is particularly suitable to the pipe with diameter 400～650 mm. |
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| Keywords: | in pipe robot parallelogram machanism pipe inspection |
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