【摘要】 研制了适用于管径为400～650mm的煤气管道内缺陷自动探测系统.该系统由采用远程网络控制技术的管道机器人移动机构、无损检测传感器和地面工作站等组成.综述了管道检测机器人的系统总体设计、关键技术和性能实验.实验结果表明,所研制的管道检测机器人系统在管道中运行平稳,具有稳定的牵引力,其值可达1.404kN,适用于400～650mm管径的油气管道检测.更多还原

【Abstract】 A pipe inspection robot system was developed for automatic inspection of gas pipeline with pipe diameter of 400~650 mm. It is composed of a pipe robot crawling mechanism controlled by remote network system, nondestructive examination sensor system, ground working station and so on. This paper presented the pipe inspection robot system design, the key technique and the performance experiment of the robot. The experimental results indicate that the pipe iinspection robot system works reliably, it can provide adequate and stable traction force up to 1.404 kN. It can be used in maintaining and inspecting the oil & gas delivery pipe with pipe diameter of 400~650 mm.更多还原