污水管道多功能作业机器人设计方案  

A Design Scheme of a Multi-function Robot for Sewage Pipes

作　　者：王传江[1] 张志兵[1] 吴建 孙秀娟[1] 

机构地区：[1]山东科技大学信息与电气工程学院 [2]山东莱钢特殊钢厂

出　　处：《工程机械》2009年第3期48-51,共4页Construction Machinery and Equipment

基　　金：青岛市开发区资助项目(05-1-2-3);山东省研究生教育创新计划项目(SDYY06052)。

摘　　要：针对城市污水管道堵塞或破损现象的清理、检查及修复等问题,提出一种能够适应城市污水管道非开挖施工作业的多功能机器人设计方案。该机器人设计采用电控液压驱动、分节铰链设计方式,整体结构由清理机构、移动机构、控制箱、检测机构和修复机构等4部分组成,根据不同的作业任务,可将各节进行相应的组合。该机器人能够在不破坏管道结构和地面路基完整性的情况下,实现在污水管道内部的行走,并进行强制性清理和疏通,且能够利用压力传感器、超声波传感器和CCD图像传感器等完成对污水管道堵塞、破损情况的定位和检测,根据检测结果对污水管道进行修复,消除了传统的污水管道开挖施工作业方式对道路的破坏以及对公共交通的影响,且能够提高施工效率。Aiming at the problems of clearing,checking and repairing for clogging or breakage of city sewage pipes,design scheme of a multi-function robot suitable for trenchless operation of city sewage pipes is presented.In the design,the robot adopts electrically controlled hydraulic drive and segmental hinge connection concept is applied.The whole structure is composed of four parts:clearing mechanism,mobiJe mechanism,control box,test and repair mechanism.Different segments are combined according to different operation tasks.The robot can realize traveling in sewage pipe and performing forced clearing and dredging without damaging the pipe structure as well as above pavement and road bed integrality.Besides,clogging and damages in sewage pipes can be located and checked by pressure sensors,ultra-sonic sensors and CCD graphic sensors.Then,the sewage pipes are repaired based on the checking results,which eliminates the pavement destruction and adverse influences on public transportation of traditional trenching operation of sewage pipes and execution efficiency is also increased.

关 键 词：管道机器人 污水管道 非开挖技术 传感器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]