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Supervised by Ministry of Industry and Information Technology of The People's Republic of China Sponsored by Harbin Institute of Technology Editor-in-chief Yu Zhou ISSNISSN 1005-9113 CNCN 23-1378/T

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Related citation:XU Feng-ping,GENG Chao,XIA You-shan.Key techniques of robot for work of drainpipe deposit cleaning[J].Journal of Harbin Institute Of Technology(New Series),2012,19(3):95-99.DOI:10.11916/j.issn.1005-9113.2012.03.017.
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Key techniques of robot for work of drainpipe deposit cleaning
Author NameAffiliation
XU Feng-ping Mechanical Science and Engineering Institute, Northeast Petroleum University, Daqing 163319, China 
GENG Chao Mechanical Science and Engineering Institute, Northeast Petroleum University, Daqing 163319, China 
XIA You-shan Mechanical Science and Engineering Institute, Northeast Petroleum University, Daqing 163319, China 
Abstract:
According to the requirement of automatization of drainpipe deposit cleaning work in the municipal engineering works, a kind of robot for drainpipe deposit cleaning work has been researched and manufactured with the simulation analysis and the technique of virtual prototyping. In this paper, the composition principle and key techniques of the robot are elaborated in detail, including the technique of adapting and adjusting the change of pipe diameter, technique of obstacle crossing, technique of walking and driving and so on. The manufactured prototype and results of tests show that the robot possesses characteristics, such as adapting range of pipe diameter between 400 and 500 mm, the walk speed with 2 m／min, the drag force beyond 3 kN, and the walk distance with 1 km.
Key words:  drainpipe, deposit cleaning work  robot  prototype
DOI：10.11916/j.issn.1005-9113.2012.03.017
Clc Number:TP2423
Fund:

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