摘要
设计管道机器人设计沿圆周方向进行均匀布置,轴向由直线行走单元和避障单元组成。其中,直行单元和避障单元分别由驱动单元、支撑单元和移动单元组成。同时机器人本体也有缺陷检测单元。直行单元和避障单元分别完成主动避障管道机器人的直行和避障功能;管道内壁缺陷检测单元完成环境信息检测和反馈功能。
In this paper,the pipeline robot is designed to be evenly arranged along the circumference,and the axial direction is composed of linear walking unit and obstacle avoidance unit.The straight travel unit and the obstacle avoidance unit are respectively composed of a driving unit,a supporting unit and a moving unit.At the same time,the robot body also has defect detection unit.The straight travel unit and obstacle avoidance unit complete the straight travel and obstacle avoidance functions of the active obstacle avoidance pipeline robot respectively;the pipeline inner wall defect detection unit completes the environmental information detection and feedback functions.
作者
于瑞强
邹金良
郭天山
YU Ruiqiang;ZOU Jinliang;GUO Tianshan(Yijiahe Technology Co.,Ltd.,Jiangsu 210012,China)
出处
《电子技术（上海）》
2020年第11期72-73,共2页
Electronic Technology
关键词
管道机器人
避障单元
内壁缺陷检测
反馈功能
pipeline robot
obstacle avoidance unit
inner wall defect detection
feedback function
