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Diseño estructural y análisis de características de movimiento del robot de rectificado de pared interior para
Yanping Cui1, Ruitian Sun1, Zhe Wu1
1School of Mechanical Engineering, Hebei University of Science and Technology, Shijiazhuang 050018, China.
Sensors (Basel, Switzerland)
|February 13, 2026
Resumen
Este estudio presenta un nuevo robot de rectificado de tuberías para reparaciones anticorrosión de tuberías de hormigón en cilindros pretensados (PCCP). El robot garantiza una preparación eficiente y segura de la pared interior, mejorando los métodos manuales tradicionales.
Área de la Ciencia:
- Ingeniería
- Robótica
- Ciencia de los materiales
Sus antecedentes:
- El rectificado de la pared interior es crucial para la reparación anticorrosión de tuberías de hormigón en cilindros pretensados (PCCP).
- Los métodos tradicionales de rectificado manual presentan desafíos en eficiencia y seguridad.
Objetivo del estudio:
- Diseñar un nuevo robot de rectificado de pared interior tipo rueda de apoyo para PCCP.
- Superar las limitaciones del rectificado manual en las operaciones de reparación de PCCP.
Principales métodos:
- Se desarrolló un robot con grupos de ruedas de apoyo independientes y un mecanismo de adaptación activo-pasivo para una locomoción estable.
- Se incorporó un módulo de rectificado con tres cepillos de acero tipo rodillo para una trayectoria de rectificado compuesta de triple hélice.
- Se utilizaron modelos matemáticos y simulaciones de dinámica multibody ADAMS para la verificación, junto con pruebas de prototipos.
Principales resultados:
- El robot demostró una operación estable y confiable, consistente con los análisis teóricos.
- Logró una excelente transitabilidad de la tubería y una sólida capacidad de conducción.
- Se confirmó que el robot cumple con los requisitos para el rectificado de la pared interior en tuberías PCCP.
Conclusiones:
- El robot desarrollado ofrece una solución eficiente y segura para el rectificado de la pared interior en la reparación anticorrosión de PCCP.
- El diseño y rendimiento del robot validan su idoneidad para aplicaciones prácticas.
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