自适应管道清洗机器人及其转向技术设计  

Design on the Self-adaptive Pipe Cleaning Robot and its Steering Technology

作　　者：孟宪宇[1] 董华伦 俞凯雄 

机构地区：[1]长春理工大学机电工程学院,吉林长春130022

出　　处：《工业技术创新》2017年第6期41-43,47,共4页Industrial Technology Innovation

摘　　要：设计一种自适应管道清洗机器人,以期实现各种管道的自动化清洗。采用伞状履带行走机构实现多种直径的管道自主行走;采用旋转机构实现机器人在弯道中流畅转向;采用高压喷头实现管道污物清洗;采用脉宽调制(PWM)调速系统实现机器人灵活调控。转向技术设计功率80 W,远远小于电机功率200 W,表明了设计的可行性。机械结构和转向设计已通过样机得以实现,推动了管道清洗机器人的发展。A self-adaptive pipe cleaning robot is designed to realize automatic cleaning of various pipes. The umbrella crawler mechanism realizes the automatic walking in the pipeline of different diameters; the rotating mechanism of the robot realizes smooth steering in the corners; high pressure nozzle realizes dirt cleaning, and speed control system of Pulse-Width Modulation realizes flexible robot control. The design power of steering technology is 80 W, which is far less than the motor power of 200 W, indicating the feasibility of such a design. The mechanical structure and the steering design have been realized by the prototype, promoting the development of the pipe cleaning robot.

关 键 词：管道清洗机器人 伞状结构 PWM调速系统 样机 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]