蠕动式污水管道清淤机器人

摘要

By combining pipe cleaning unit,propulsion module,valves and control with modularization method,the general scheme of a novel sewer cleaning inspection robot was designed. The peristaltic walking program based on hydraulic oil circuit of the ro-bot was given,and its peristaltic walking processes were analyzed. United control scheme of the system between host and lower comput-er was introduced. At the same time,the lower computer function in control system and its corresponding program flow were described. Upon this basis,a sewer cleaning inspection robot was developed and it was verified by testing experiments. The results show that the performances of robot have a good agreement with design aim in the scheme,and inspecting effect is good,which can reduce strength of worker.%采用模块化方法对污水管道清淤机器人中的管道清理单元、推进舱、阀组和控制单元等模块加以组合，并对其进行了总体方案设计，给出了机器人蠕动行走液压油路方案，分析了其蠕动行走过程。介绍了系统上、下位机联合控制方案，同时描述了下位机在控制系统中的功能及其对应程序流程。在此基础上，研制了一台污水管道清淤机器人，并对其进行了实验。结果表明：该机器人在现有方案下能够实现预定的设计目标，管道清理检测质量良好，可降低工人工作强度。