Research On Prototype Of City's Drainage Pipelines Robot

As an advanced robot, the city's drainage pipelines robot is gradually becoming the research hotspot for many institutes at home and abroad because of the wide application prospect and special function. This dissertation is sponsored by the project of 'Research of Through Cordage and Inspecting in the City's Drainage Pipelines Robot' of key project in science and technology of Harbin, of which the purpose is to produce a prototype of such a robot. Aimed such a target, this dissertation has finished related research on the structure design, control system, system debugging and performance tests.Fist of all, by comparing and analyzing the structural characteristics on the mode of drving, transition and move of in-pipe robots over the world, the mechanical structure featured by servo driving, roll chain drive, move on double tracks and integrated-box sealing is designed, due to the practical and feasible factors. At the same time, the optimized structure design is performed with Pro/E. Based on the work of mechanical design, the analysis of control scheme is made providing important basis for the formulation of control strategy.In addition, the structure of control system including upper-lower controller and remote operation is adopted to the robot according to the working environment of in-pipe robots. The remote operation fulfills the requirements of path control, location detection and posture adjustment. The upper controller is made up of a portable controller, and the full-digitized servo control system with multi-speed control and integral-separated PID control arithmetic is used for the lower controller to meet the control expectation. Besides, the posture of the robot is detected by the NS-45/E2 tilt sensor, which ensures that data acquisition is quick and accurate and the movement of robot is stable. Finally, system debugging and performance experiments are made for the robot. During the system debugging, parameters of the control system are optimized and the functions of all modules are realized and reach the theoretical control effect. Based on the system debugging, the performance tests are made with results proving the feasibility of mechanical design and the reliability of motor driving and posture detecting, which lays good foundation for the application of the in-pipe robot.