【摘要】 本文研制了水泥砂浆衬里补口作业机器人 ,首先介绍了机器人系统组成及工作原理 ,然后详细分析了其光整作业装置 ,其设计巧妙 ,具有结构紧凑、一电机多功用的复合功效、光整功能完善可靠等显著特点 ,实验证明是一种理想的水泥砂浆衬里光整作业装置 ,在工程应用中具有推广价值更多还原

【Abstract】 In this paper, the welding seam anti-corrosive applicator in-pipe robot for water injection pipeline with cement mortar liner in oil field is developed, firstly, its systematical structure and operation principle are introduced , then its polishing unit is analyzed thoroughly which features with compact structure , one motor with multi-functions to operation unit and perfect polishing function etc, finally the experiment shows the ideal effectiveness of the polishing unit, and it deserves to be recommended in engineering application.更多还原