中小直径排水管道缆控清淤机器人的研究  

Study on cable-controlled cleaning robot for medium and small diameter drain pipes

作　　者：王丰[1] 董小蕾[1] 蔡玉强[1] 段润保[1] 

机构地区：[1]河北理工大学机械工程学院,唐山063009

出　　处：《机械设计与制造》2008年第4期161-163,共3页Machinery Design & Manufacture

基　　金：河北省教育厅科学研究项目(2004432)

摘　　要：提出了一种中小直径排水管道缆控清淤机器人,并对机器人组成、驱动步进电动机控制以及光电编码器在机器人中的应用进行了详细介绍。清淤机器人由移动载体、打滑纠正机构、清淤刀具、检测装置、控制器和电缆收放装置等组成,可在步进电动机的驱动下沿排水管道内部自主行走,并在行走过程中完成对管内淤积物的自动清理工作,同时也可对载体打滑、遇到大障碍及步进电动机过载等状况进行检测并实施及时的纠正,具有工人劳动强度低、作业效率高等优点。A cable-controlled cleaning robot for medium and small diameter pipe drains is put forward. Its constitution, the control of step motor and the application of optical encoder are introduced in detail. The cleaning robot consists of moving carrier, slide-controlling device, cleaning tool, sensing unit, controller and cable synchronous collecting and sending mechanism. It can walk along the pipe under the drive of stepping motor, clean the sludge inside the pipe automatically during the moving. The state of sliding or meeting obstacle of the carrier and the overload of the motors are also sensed and controlled at real time. It has advantages in that the working strength is low and the efficiency is high.

关 键 词：清淤机器人 排水管道 步进电动机 光电编码器 PLC 

分 类 号：TH16[机械工程—机械制造及自动化] TP24[自动化与计算机技术—检测技术与自动化装置]