Antislip Design of Cleaning Robot for Municipal Drainpipes with Medium/Small Diameter

摘要

To overcome the disadvantages of the commonly used dredging methods for the municipal drainage pipes with medium/small diameter, a novel robot was designed to take over the human to clean the pipes automatically. In order to adapt to the narrow environment, the wheeled walking mechanism was adopted by the robot, which was prone to skid during the operation. For this reason, a new kind of slip correction device was presented in the paper. When the slippage was detected by the photoelectric encoders installed on the driving and driven axles of the mobile carrier, the device would put into operation automatically. The dual-parallelogram structure was introduced so as to obtain the better compressing effect and reduce the space occupancy. It is demonstrated that the reasonable design of the slip correction device can ensure the robot to work reliably during the whole process, therefore improve the operation efficiency greatly.