| Robot is researched widely, which uses ultrasonic to inspect narrow petroleum pipe without cable. The whole design scheme of the robot is introduced first, then its three subsystems: ultrasonic inspect subsystem inside, hydraulic pressure control subsystem outside and computer data processing subsystem.In order to simulate the working environment of the inspect robot, testing robot and hydraulic pressure control subsystem is designed.Some experiments are carried out to test inspecting plan of the robot. The results make clear that the plan is a reasonable solution to inspect the petroleum pipe. Some important factors, which effect robot working smoothly, are summarized, and several measures are also put forward to solve the abnormalities. Expectations are given in the end of the paper. |
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