title: Ð Ð¾Ð±Ð¾Ñ Ð´Ð»Ñ Ð´Ð¸Ð°Ð³Ð½Ð¾ÑÑÐ¸ÐºÐ¸ ÑÑÑÐ±Ð¾Ð¿ÑÐ¾Ð²Ð¾Ð´Ð¾Ð²
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: Robot for pipeline diagnostics
Creators: name: ÐÑÐ´ÑÑÐ²ÑÐµÐ², ÐÐ°ÑÐ¸Ð»Ð¸Ð¹
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2024
Subjects: Ð²Ð½ÑÑÑÐ¸ÑÑÑÐ±Ð½Ð°Ñ Ð´ÐµÑÐµÐºÑÐ¾ÑÐºÐ¾Ð¿Ð¸Ñ
ÐºÐ°ÑÐµÑÐºÐ° ÑÐ¾Ð±Ð¾ÑÐ°
Ð¼ÐµÑ Ð°Ð½Ð¸Ð·Ð¼ Ð¿Ð¾Ð´ÑÑÐ¼Ð° Ð¸Ð·Ð¼ÐµÑÐ¸ÑÐµÐ»ÑÐ½Ð¾Ð¹ Ð³Ð¾Ð»Ð¾Ð²ÐºÐ¸
in-tube flaw detection
robot carriage
lifting mechanism of the measuring head

description: ÐÐ°Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¿Ð¾ÑÐ²ÑÑÐµÐ½Ð° ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐµ ÑÐ¾Ð±Ð¾ÑÐ° Ð´Ð»Ñ Ð´Ð¸Ð°Ð³Ð½Ð¾ÑÑÐ¸ÐºÐ¸ ÑÑÑÐ±Ð¾Ð¿ÑÐ¾Ð²Ð¾Ð´Ð¾Ð², Ð² ÑÐ°ÑÑÐ½Ð¾ÑÑÐ¸ ÐºÐ°ÑÐµÑÐºÐ¸ ÑÐ¾Ð±Ð¾ÑÐ° Ð¸ Ð¼ÐµÑÐ°Ð½Ð¸Ð·Ð¼Ð° Ð¿Ð¾Ð´ÑÑÐ¼Ð° Ð¸Ð·Ð¼ÐµÑÐ¸ÑÐµÐ»ÑÐ½Ð¾Ð¹ Ð³Ð¾Ð»Ð¾Ð²ÐºÐ¸. ÐÐ°Ð´Ð°ÑÐ¸, ÐºÐ¾ÑÐ¾ÑÑÐµ ÑÐµÑÐ°Ð»Ð¸ÑÑ Ð² ÑÐ¾Ð´Ðµ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ: 1) ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° ÐºÐ¾Ð½ÑÐµÐ¿ÑÐ¸Ð¸ ÑÐ¾Ð±Ð¾ÑÐ°, 2) ÑÐ°ÑÑÑÑ ÑÐ¸Ð», Ð´ÐµÐ¹ÑÑÐ²ÑÑÑÐ¸Ñ Ð½Ð° ÐºÐ°ÑÐµÑÐºÑ ÑÐ¾Ð±Ð¾ÑÐ° Ð¸ Ð¼ÐµÑÐ°Ð½Ð¸Ð·Ð¼ Ð¿Ð¾Ð´ÑÑÐ¼Ð° Ð¸Ð·Ð¼ÐµÑÐ¸ÑÐµÐ»ÑÐ½Ð¾Ð¹ Ð³Ð¾Ð»Ð¾Ð²ÐºÐ¸, Ð° ÑÐ°ÐºÐ¶Ðµ Ð¼Ð¸Ð½Ð¸Ð¼Ð°Ð»ÑÐ½Ð¾ Ð²Ð¾Ð·Ð¼Ð¾Ð¶Ð½Ð¾Ð¹ Ð¼Ð°ÑÑÑ ÑÐ¾Ð±Ð¾ÑÐ°, Ð¿ÑÐ¸Ð²Ð¾Ð´Ð½Ð¾Ð³Ð¾ Ð¼Ð¾Ð¼ÐµÐ½ÑÐ° Ð¸ Ð¼Ð¸Ð½Ð¸Ð¼Ð°Ð»ÑÐ½Ð¾ Ð²Ð¾Ð·Ð¼Ð¾Ð¶Ð½ÑÑ ÑÑÐ¸Ð»Ð¸Ð¹ ÑÐ»ÐµÐºÑÑÐ¾ÑÐ¸Ð»Ð¸Ð½Ð´ÑÐ°, 3) Ð²ÑÐ±Ð¾Ñ ÐºÐ¾Ð¼Ð¿Ð¾Ð½ÐµÐ½ÑÐ¾Ð² Ð¿ÑÐ¸Ð²Ð¾Ð´Ð¾Ð² Ð´Ð»Ñ ÑÐ·Ð»Ð¾Ð² ÑÐ¾Ð±Ð¾ÑÐ°, 4) ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° 3D Ð¼Ð¾Ð´ÐµÐ»Ð¸ ÑÐ¾Ð±Ð¾ÑÐ°, Ð² ÑÐ¾Ð¾ÑÐ²ÐµÑÑÑÐ²Ð¸Ð¸ Ñ Ð³Ð°Ð±Ð°ÑÐ¸ÑÐ°Ð¼Ð¸ Ð¸ Ð¼Ð°ÑÑÐ°Ð¼Ð¸ Ð¿Ð¾Ð´Ð¾Ð±ÑÐ°Ð½Ð½ÑÑ ÐºÐ¾Ð¼Ð¿Ð¾Ð½ÐµÐ½ÑÐ¾Ð² Ð¿ÑÐ¸Ð²Ð¾Ð´Ð¾Ð², 5) ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° ÑÐ±Ð¾ÑÐ¾ÑÐ½Ð¾Ð³Ð¾ ÑÐµÑÑÐµÐ¶Ð° ÑÐ¾Ð±Ð¾ÑÐ°. Ð Ð°Ð±Ð¾ÑÐ° ÑÐ¾Ð´ÐµÑÐ¶Ð¸Ñ Ð°Ð½Ð°Ð»Ð¸Ð· ÑÐµÐ°Ð»ÑÐ½ÑÑ ÐºÐ¾Ð½ÑÑÑÑÐºÑÐ¸Ð²Ð½ÑÑ ÑÐµÑÐµÐ½Ð¸Ð¹, Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð½ÑÑ Ð¿ÑÐ¸ Ð¿ÑÐ¾ÐµÐºÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ð¸ ÑÐ¾Ð±Ð¾ÑÐ¾Ð² Ð´Ð»Ñ Ð²Ð½ÑÑÑÐ¸ÑÑÑÐ±Ð½Ð¾Ð¹ Ð´ÐµÑÐµÐºÑÐ¾ÑÐºÐ¾Ð¿Ð¸Ð¸. ÐÑÐ»Ð¸ Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ñ ÑÐ¸Ð»Ð¾Ð²ÑÐµ ÑÐ°ÑÑÑÑÑ, Ð¿Ð¾Ð·Ð²Ð¾Ð»Ð¸Ð²ÑÐ¸Ðµ Ð¿ÑÐ¾Ð¸Ð·Ð²ÐµÑÑÐ¸ Ð¿Ð¾Ð´Ð±Ð¾Ñ ÑÐ»ÐµÐ¼ÐµÐ½ÑÐ¾Ð² Ð¿ÑÐ¸Ð²Ð¾Ð´Ð¾Ð² ÑÐ¾Ð±Ð¾ÑÐ°. Ð ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐµ ÑÐ°Ð±Ð¾ÑÑ Ð±ÑÐ» ÑÐ¿ÑÐ¾ÐµÐºÑÐ¸ÑÐ¾Ð²Ð°Ð½ Ð¿ÑÐ¾ÑÐ¾ÑÐ¸Ð¿ Ð³Ð¾ÑÐ¾Ð²Ð¾Ð³Ð¾ ÑÐ¾Ð±Ð¾ÑÐ°, Ð¿Ð¾Ð´Ð¾Ð±ÑÐ°Ð½Ñ Ð¸ ÑÐ°ÑÑÑÐ¸ÑÐ°Ð½Ñ ÑÐ»ÐµÐºÑÑÐ¾Ð¼ÐµÑÐ°Ð½Ð¸ÑÐµÑÐºÐ¸Ðµ Ð¿ÑÐ¸Ð²Ð¾Ð´Ñ, Ð° ÑÐ°ÐºÐ¶Ðµ ÑÐ¸Ð½ÑÐµÐ·Ð¸ÑÐ¾Ð²Ð°Ð½Ñ 3D Ð¼Ð¾Ð´ÐµÐ»Ñ Ð¸ ÑÐ±Ð¾ÑÐ¾ÑÐ½ÑÐ¹ ÑÐµÑÑÐµÐ¶.
description: This work is devoted to the development of a robot for the diagnosis of pipelines, in particular the robot carriage and the lifting mechanism of the measuring head. Tasks that were solved during the research: 1) Development of the robot concept, 2) Calculation of the forces acting on the robot carriage and the lifting mechanism of the measuring head, as well as the minimum possible mass of the robot, the driving torque and the minimum possible forces of the electric cylinder. 3) Selection of drive components for robot assemblies 4) Development of a 3D model of the robot, in accordance with the dimensions and weights of the selected drive components 5) Development of the assembly drawing of the robot. The work contains an analysis of real constructive solutions, used in the design of robots for in-line flaw detection. Power calculations were carried out, which made it possible to select the elements of the robots drives. As a result of the work, a prototype of the finished robot was designed, electromechanical drives were selected and calculated, and a 3D model and assembly drawing were synthesized.