Робототехническое устройство для предварительного диагностирования протяженных замкнутых объектов – газопроводов малых диаметров

The trenchless technology of the extended closed objects diagnosis – the underground pipelines is presented. Variants of the extended closed objects pre-diagnosis using teleinspection distance controlled robots are considered. Existing variants of diagnostic robots are developed for the gas pipelines with diameters greater than 500 mm. But there are pipes with diameters 250-400 mm in the urban pipelines, and it is impossible to use such robots there due to a number of restrictions, in particular, to requirements for the traction power, the actuator and dimensions – the robot must be compact and lightweight, has reserve of traction and stroke distance. Therefore, the development of the robotic system that does not use as an engine of the electric motor due to its high weight and unwieldiness is required. The conception of the robot propulsor is developed. The construction of the teleinspection pre-diagnosis robot for the extended closed objects with diameters less than 500 mm is proposed. The ability of quick design and rebuild of the robot model using the system of automated optimization of the construction parameters is presented.