一种基于集成阀控制的管道机器人设计

针对人工检测排水管道存在的管道直径小及易燃、易爆等问题，设计一种基于集成阀控制的管道机器人。集成阀具有密封防爆、扩展性强等优点。该机器人采用气动动力系统、蠕动行走方式，能在一定范围内的变径管道中行走并转弯，完成管道清洗、检测等工作。控制系统采用下位机操作，通过缆绳到上位PC机集中控制。所设计的机器人具有安全防爆、动力保障性强、故障机器人回收维修方便、性价比高等优点。

Design of a Pipeline Robot Based on the Integrated Valve Control

Aiming at the problems of manual inspection of drainage pipeline,such as too small pipe diameter,flammability and explosion,a pipeline robot based on the integrated valve control was presented.The integrated valve has the advantages of sealing,explosion-proof and strong expansibility.The robot adopted pneumatic power systems and peristaltic walk way,which could walk and turn in a certain range of pipes with different diameters to complete pipe cleaning and inspection.The system was operated by slave control unit and controlled by PC through a single cable.The designed robot has the advantages of safety and explosion-proof,strong power guarantee,convenient recovery and maintenance of the faulty robot,and high cost performance.