三輪軸壁壓式管道機器人之研究

3 axle wall pressing Robot in-pipe

黃彥皓(Yan-Hao Huang)

指導教授 ： 張合

共同指導教授 ： 蔡哲雄

國立臺北科技大學/機電學院/製造科技研究所/碩士(2014年)

https://doi.org/10.6841/NTUT.2014.00516

摘要

本研究針對管道機器人之作業環境，提出了具有足夠載體空間及自適應管道內環境之管道機器人來改善管道檢查之任務執行的困難，研究內容包含了機器人的機構設計、控制系統以及力學分析與性能測試。本研究提出之管道檢查機器人，具有彈性的機構設計來適應管徑的變化，並於8”之垂直管道、水平管道以及肘管進行性能測試以及對原型機之載重以及越障能力進行性能評估，結果顯示，管道能通過垂直管道、肘管與水平管道，荷重力約為40N，並可越過14mm之環型障礙物，符合功能要求。載具部分使用3D印表機，主要材料使用ABS材料且具加工性，原型機將以管道直徑200-230mm為基準去設計。

關鍵字

管道機器人 ； 壁壓式 ； 自適應

並列摘要

In this study, the operating environment for the robot pipeline proposed pipeline robot has enough support within the environment of space and adaptive pipeline to improve the difficulty of the task execution pipeline inspection, research institutions included the design of the robot control system and mechanical analysis and performance test. This study proposed pipeline inspection robot, flexible organization designed to adapt to changes in diameter and 8 "of vertical pipes, horizontal pipes and elbows performance evaluation and performance testing of a prototype of the truck and the barrier ability, the results showed that the pipeline through vertical pipes, elbows and horizontal pipe, the load force of about 40N, and crossed the 14mm ring obstacles, meet the performance requirements. carrier part of the 3D printer, the main material and the use of ABS material with processing, pipe diameter 200-230mm prototype will be designed as a benchmark to go.

並列關鍵字

Pipe robot ； wall pressing ； self-adaptive

參考文獻

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