| 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) The paper describes the main mechanical structure design of power self-support in-pipe robot, inncluding the designs of power self-support part, supporting wheel part and directing part, which provide very important basic for the study on the novel cableless in-pipe robot.(3) The paper gives the whole control system design of the in-pipe robot, which includes electro-magnet drive module, CPLD patulous module, wireless communications module, power module. Controlling board based on the AT89S52 for the control system in the in-pipe robot and the corrresponding software for the system is developed successfully. |
