Development of a Wheeled and Wall-pressing Type In-Pipe Robot for Water Pipelines Cleaning and its Traveling Capability
文献类型：期刊论文
| 作者 | Feng GH(冯冠华)2,3; Li WH(李文皓)2,3; Li ZQ1 ; He Z1; Feng GH(冯冠华); Li WH(李文皓); Feng GH(冯冠华)
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| 刊名 | MECHANIKA
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| 出版日期 | 2020 |
| 卷号 | 26期号:2页码:134-145 |
| 关键词 | wheeled and wall-pressing type in-pipe cleaning robot (IPCR) preload mechanism traction force obstacle-overcoming capability simplified vibration system |
| ISSN号 | 1392-1207 |
| DOI | 10.5755/j01.mech.26.2.18783 |
| 英文摘要 | Most of existing in-pipe robots are applied to defect inspection and regular maintenance, etc. There is almost no in-pipe robot for big-diameter pipelines cleaning and are still problems of traction force and obstacle-overcoming. To deal with the problems, a novel wheeled and wall-pressing type in-pipe cleaning robot (IPCR) with high pressure water jet is proposed. Then the preload mechanism, traction force, and obstacle-overcoming capability of the IPCR are analyzed. The vibration equations of the simplified vibration system of the IPCR are established. Also, the necessity of preloading force is verified and methods to improve obstacle-overcoming capability are proposed. Finally, the traveling capability is verified in a dynamics simulation system. The simulation results show that the proposed IPCR is powerful with traction force and has a certain capability of obstacle-overcoming. Setting the attitude angle is zero and adding preloading force to all springs can obviously weaken vibration of the IPCR. |
| 分类号 | Q4 |
| WOS关键词 | DESIGN ; INSPECTION |
| WOS研究方向 | Mechanics |
| 语种 | 英语 |
| WOS记录号 | WOS:000542663700007 |
| 其他责任者 | Li, Wenhao |
| 源URL | [http://dspace.imech.ac.cn/handle/311007/84795]  |
| 专题 | 力学研究所_先进制造工艺力学重点实验室 |
| 作者单位 | 1.Chinese Acad Sci, Shenyang Inst Automat, State Key Lab Robot, Shenyang 110016, Peoples R China 2.Univ Chinese Acad Sci, Sch Engn Sci, Beijing 100049, Peoples R China; 3.Chinese Acad Sci, Inst Mech, Beijing 100190, Peoples R China; |
| 推荐引用方式 GB/T 7714 | Feng GH,Li WH,Li ZQ,et al. Development of a Wheeled and Wall-pressing Type In-Pipe Robot for Water Pipelines Cleaning and its Traveling Capability[J]. MECHANIKA,2020,26(2):134-145. |
| APA | 冯冠华.,李文皓.,Li ZQ.,He Z.,Feng GH.,...&Feng GH.(2020).Development of a Wheeled and Wall-pressing Type In-Pipe Robot for Water Pipelines Cleaning and its Traveling Capability.MECHANIKA,26(2),134-145. |
| MLA | 冯冠华,et al."Development of a Wheeled and Wall-pressing Type In-Pipe Robot for Water Pipelines Cleaning and its Traveling Capability".MECHANIKA 26.2(2020):134-145. |
入库方式： OAI收割
来源：力学研究所
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