压力管道内壁打磨机器人的研制

摘要

针对工业压力管道内壁存在腐蚀、结垢等情况,会对压力管道内窥镜检测以及介质流动、热量传递等存在不利影响的问题,在国内外管道机器人研究的基础上,设计了一种全新的管道内壁自动打磨装置,对管道内壁打磨机器人进行结构设计,提出了预紧力机构、打磨机构、驱动机构的设计方案.试验结果显示,该打磨机器人具有良好的运行稳定性和弯管过弯性能,并能实现有效打磨,对保障压力管道安全运行具有重要意义.%The corrosion and scaling of the inner wall of the industrial pressure pipeline have adverse effects on the detection of the endoscope,the flow of medium and the heat transfer.On the basis of the research of pipeline robot at home and abroad,a new kind of pipeline inner wall automatic grinding device was proposed.The structure design of the grinding robot used for inner wall of pipeline was completed,the design scheme of preload mechanism,grinding mechanism,drive mechanism was proposed.The test results indicated that the polishing robot possesses good stability and bending performance,and can achieve effective grinding,which is of great significance to ensure the safe operation of the pressure pipeline.