Research On The Kinematics And Structure Of The "Through Cordage And Inspecting In The City's Main Drainage Pipelines" Robot

As a special type of working robot, "Inspection and detection in city drainage pipelines" robot is applied for dredge and detection in drainage pipelines. At present it has almost not been used in this areas. And the foreign product's cost quite expensively. The robot researched in this paper is supported by Harbin Technology Fund and it has a wide application value.At first, the author systematically overviews the developing situation of the pipeline robot and the city drainage pipelines dredging and cleaning technology at home and abroad, and puts forward the structure scheme which adopts double crawler movement for the robot. The paper also design the structure which is made up of drive equipment,speed-down equipment,tensing equipment, wavering mechanism and dummy assembly.The paper designs the mechanics and kinematics of the robot. Proceed with the robot's move qualification, analyse and study the capsizal capability, the dynamics problem of driving cable, the force and speed of the robot at the turning. And set up the kinematics model of the robot.Systematically discuss the cortrol scheme.Design the hardware circuit and corresponding software flow chart.Research the waterproof of the robot. Resolve the dynamic seal and sealstatic seal.At last, we have done some experiments on the robot. Test results indicate that the controller have a good ability and the robot has the characteristic of good holding load, smooth and steady movement, adjustable speed, strong anti-topple capability and good deviation-rectifying. Performance index of the robot is in accordance with the design specifications.In conclusions, the development of the pipeline robot opens up a new domain for the solution of the dredge of the city's blocked drainage pipelines.