Key techniques of robot for work of drainpipe deposit cleaning

摘要

According to the requirement of automatization of drainpipe deposit cleaning work in the municipal engineering works,a kind of robot for drainpipe deposit cleaning work has been researched and manufactured with the simulation analysis and the technique of virtual prototyping.In this paper,the composition principle and key techniques of the robot are elaborated in detail,including the technique of adapting and adjusting the change of pipe diameter,technique of obstacle crossing,technique of walking and driving and so on.The manufactured prototype and results of tests show that the robot possesses characteristics,such as adapting range of pipe diameter between 400 and 500 mm,the walk speed with 2 m /min,the drag force beyond 3 kN,and the walk distance with 1 km.