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在煤矿生产中使用大量的管道,其质量关系到整个煤矿的安全和高效生产。为提高管道寿命,预防管道老化、腐蚀及断裂等问题,并实现高效准确地故障诊断,笔者设计了一种可变径管道检测机器人,并建立了机器人三维模型,利用ADAMS对其进行运动仿真,从而验证了机器人在直径为220~300mm的管道中自由行走和检测的可行性。
The use of a large number of pipelines in the production of coal mines, the quality of which concerns the safe and efficient production of the entire coal mine. In order to improve the life of the pipeline, prevent the problems of pipeline aging, corrosion and fracture, and to realize the efficient and accurate fault diagnosis, the author designed a variable-diameter pipeline inspection robot and established a three-dimensional model of the robot. Using ADAMS to simulate the movement, Which verifies the feasibility of the robot walking freely and detecting in the pipe with the diameter of 220 ~ 300mm.