论文标题
淡水管道中的管道机器人系统康复
In-pipe Robotic System for Pipe-joint Rehabilitation in Fresh Water Pipes
论文作者
论文摘要
机器人的目标是通过爬进水运河并施加修复材料来修复管道来修复新鲜供水系统的管道关节。机器人的结构由六轮腿部组成，前面的三个分隔为120°，背面三个在相同的配置中，支持沿管道中心的结构。在这种配置中，机器人能够使用旋转工具清洁和密封，类似于圆柱机器人，覆盖了整个3D内管子内空间。
The robot's objective is to rehabilitate the pipe joints of fresh water supply systems by crawling into water canals and applying a restoration material to repair the pipes. The robot's structure consists of six wheeled-legs, three on the front separated 120° and three on the back in the same configuration, supporting the structure along the centre of the pipe. In this configuration the robot is able to clean and seal with a rotating tool, similar to a cylindrical robot, covering the entire 3D in-pipe space.
