Study On Control System And Energy Conversion Device Of New Micro In-pipe Robot

In-pipe robots have broad application fields and social needs. In-pipe robots can be used in industry, agriculture, aeronautics and astronautics, national defence, metallurgy, petrochemical industry, municipal water supply&municipal drainage and so on. In-pipe robot technique is a synthesis of many different disciplines, and a high integrantion of actuators, drive equipments, sensors, controllers, and power supplies. Due to the constraint of power supply, current in-pipe robot cannot work in long distance and for a long time. So the research is made on the design of a novel cableless in-pipe robot, which can take the device of power convertor—dynamotor by itself, work and move using the self-energy of fluid. Owing to the features of the robot, it is very important to achieve long distance and long time works of in-pipe robot.The major contents of this dissertation are shown as follows:(1) Based on the amount of recently literature in this thesis, introduces the state of researching and developing of in-pipe robot generally and detailly, and some questions on the studies of in-pipe robot.(2) It analyses work condition of realizing special function of micro in-pipe robot, and establish its dynamics model in level straight pipe, and carry out the emulation experiment.(3) Contraposing the property of the flowing object which is gas or liquid in pipe,it confirm the designing project of energy conversion device of micro in-pipe robot,and design and experiment sample,which validatting the feasibility of the project.(4) The paper designs hardware circuit of the micro in-pipe robot control system, which includes electro-magnet drive module, wireless communications module, power module.(5) It designed the control system software of the micro in-pipe robot ,and gived the program flowing chart of each function module.