The Design Theory And Experimental Study On Wheeled Drainage Pipe Detection Robot

Pipeline robot is a kind of special instrument, which is consist of intelligent mobile carrier technology and pipeline defects nondestructive testing units. This robot can enter in the complex pipeline environment, where human couldn't enter in, it can carry out service testing, cleaning and maintenance the pipes that in working, by carrying a variety of sensors and operation units. Especially for the special pipes that cross rivers, railways and roads, or buried pipeline's important parts to take selective operation, the pipeline robot has unique advantages.This paper has studied the common key technical problems of the operating of drainage channels, by using the simulation and experimental method, The mechanical parameter optimization, dynamic characteristics and motion control method for wheel drainage pipe detection robot were completed. A prototype of wheeled drainage pipe detection robot was developed, the comprehensive performance experiments of the prototype were taken.During the study for the mobile carrier of the wheeled pipe robot, we found the relations among the diameters, the torque and the revolving speed of the wheel, the distance between wheel axies. under the traction and tread speed of the robot was meet, a smaller mass of the robot could be obtained. Therefor, the optimization method of parameter of wheeled pipelinerobot that based on genetic algorithm was proposed for the first time, and verified feasibily by ADAMS simulation. The robot mobile carrier was made, a experiments on traction force, walking ability and climbing ability for the robot's mobile carrier have been done. A detailed study of robot's motion performance was taken through compared experimental datas with theoretical analysis. In order to meet the requirements that the robot working in pressure water, the seal and anti-corrosion of the robot were studied and designed. The moving carrier motor and yunnan observatory pose adjustment motor were selected, and designed the control way of them. A set of two degrees of freedom CCD yunnan observatory, which ensured the CCD to reflection the gesture in the pipeline with accurate and omnidirectional. And through compared various transmission schemes, the opto-electric composite cable was introduced into the system, used as a medium for system communications and electricity transmission.Although the entire system still exist shortcomings and defects, the research object has been realized basically. finally, a summary about the work of the entire paper and research results is presented, and put forward the task of next phase.