摘要
微小机器人系统 Tubot II型是适应 2 0 mm管道内缺陷的自动探测系统 ,它由一个两级计算机控制的管内移动机构携带涡流探头 ,外加涡流分析仪和记录设备等组成 .本文专述 Tubot II系统设计、关键技术和性能试验 .这套机器人系统经产品化开发后可望应用于诸如核电、化工、制冷和公用事业等的非磁性金属管道的定期检查 .
The micro robotic system, Tubot II, is developed for automatic inspection of flaws inside 20mm pipelines made of non magnetic metals. It is composed of a micro locomotion mechanism, a two layer computer control system with a user friendly graphics interface, an eddy current sensor, a signal analyzing instrument and a tape recorder. This paper presents the system design, the key technological components and the performance experiment of the robot. When commercialized, the robotic system could have potential applications in the regular inspection of pipelines, which will be widely used in nuclear power plants, chemical factories, refrigeration industry, and utility engineering.
出处
《机器人》
EI
CSCD
北大核心
2001年第2期127-131,共5页
Robot
基金
国家 8 63计划资助!项目 ( 863 -5 12 -970 4-2 6
863 -5 12 -980 4-18)
关键词
微小机器人
管道检测
涡流
系统设计
micro robot, pipe inspection, system design, eddy current
