基于STM32自适应管道直径且配有自动棘轮收放线的管道机器人

Pipeline Robot Based on STM32 Adaptive Pipe Diameter and Equipped with Automatic Ratchet Harness Device

管道输送物料时,由于受输送介质的影响,输送的物料极有可能发生泄漏,造成环境污染、易燃易爆、能源浪费等严重危害。因此,必须定期检查、对管道内部进行维护和清洁,而对于传统的管道机器人存在着不适应管道尺寸和通讯距离短的问题,导致转身时容易翻车或被卡住,以及对通信距离和工作范围有严苛的要求。根据管道机器人的运动特点,设计了一种以STM32单片机为主控的管道自适应且配有自动棘轮的管道机器人。通过设计单弹簧自动调节顶轮装置,优化小车的行驶稳定性,提高了小车的抗倾覆能力;采用有线信号传输单向棘轮束线装置,解决管道内信号传输线缠绕的问题,提高机器人有效通讯距离;结合差分驱动控制、电机PWM调速、实时动态画面传输、精确物料投放装置、摄像头双自由度万向节等。通过遥控导航通过性测试,完成率大于96%,证明了该系统工作的可靠性。

In the pipeline transport materials, there is a high possibility of leakage of the conveyed materials due to the influence of the conveyed medium, causing serious hazards such as environmental pollution, flammability and explosion, and energy waste. Therefore, it is necessary to regularly inspect, maintain and clean the inside of the pipeline, and for the traditional pipeline robot there are problems of not adapting to the size of the pipeline and the short communication distance, which leads to easy overturning or getting stuck when turning, as well as strict requirements on the communication distance and working range. In the thesis, a pipeline robot with pipeline adaptive and equipped with automatic ratchet was designed based on the motion characteristics of pipeline robot with STM32 microcontroller as the main control. By designing a single-spring auto-adjusting top wheel device, the driving stability of the trolley was optimized and the anti-overturning capability of the trolley was improved;a wired signal transmission one-way ratchet harness device was adopted to solve the problem of winding signal transmission lines in the pipeline and improve the effective communication distance of the robot;combined with differential drive control, PWM speed regulation of the motor, real-time dynamic picture transmission, precise material placement device, camera double-degree-of-freedom gimbal, etc.. The completion rate is greater than 96% through the remote control navigation passability test, which proves the reliability of the system’s work.