A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Sludge cleaning device of underwater pipeline robot and control method
The invention discloses a silt cleaning device of an underwater pipeline robot and a control method, the silt cleaning device comprises a mobile chassis, a push rod motor assembly, a silt cleaning tool assembly, a torque sensor and a control assembly, the mobile chassis is used for installing other assemblies, a sensor and a control circuit; the push rod motor assembly comprises a push rod motor, a push rod motor base, a push rod motor connecting piece, a first fixing frame, a second fixing frame, a first connecting rod, a second connecting rod and a third connecting rod, and the desilting tool assembly comprises a desilting framework, a desilting brush, a desilting brush connecting piece, a desilting motor and a desilting motor connecting piece. According to the control method, the underwater pipeline robot detects the resistance moment M (t) of the dredging brush based on the torque sensor, so that the distance between the dredging brush and sludge is controlled, and closed-loop control is achieved. The pipeline robot solves the problems that muddy water is turbid and is difficult to pass visual inspection when sludge is stirred during dredging operation, and has important significance on improving the operation safety of the pipeline robot.
本发明公开了一种水下管道机器人的淤泥清理装置及控制方法，包括移动底盘、推杆电机组件、清淤工具组件、力矩传感器、控制组件，所述移动底盘用于安装其他组件、传感器和控制电路，所述推杆电机组件包括推杆电机、推杆电机底座、推杆电机连接件、固定架一、固定架二、连接杆一、连接杆二、连接杆三，所述清淤工具组件包括清淤骨架、清淤毛刷、清淤毛刷连接件、清淤电机、清淤电机连接件，控制方法为水下管道机器人基于力矩传感器检测清淤毛刷的阻力矩M(t)，从而控制清淤毛刷距离淤泥的距离，实现闭环控制。本发明解决了清淤作业搅动淤泥时泥水浑浊，难以通过视觉检测的问题，对提高管道机器人作业安全性具有重要意义。
Sludge cleaning device of underwater pipeline robot and control method
The invention discloses a silt cleaning device of an underwater pipeline robot and a control method, the silt cleaning device comprises a mobile chassis, a push rod motor assembly, a silt cleaning tool assembly, a torque sensor and a control assembly, the mobile chassis is used for installing other assemblies, a sensor and a control circuit; the push rod motor assembly comprises a push rod motor, a push rod motor base, a push rod motor connecting piece, a first fixing frame, a second fixing frame, a first connecting rod, a second connecting rod and a third connecting rod, and the desilting tool assembly comprises a desilting framework, a desilting brush, a desilting brush connecting piece, a desilting motor and a desilting motor connecting piece. According to the control method, the underwater pipeline robot detects the resistance moment M (t) of the dredging brush based on the torque sensor, so that the distance between the dredging brush and sludge is controlled, and closed-loop control is achieved. The pipeline robot solves the problems that muddy water is turbid and is difficult to pass visual inspection when sludge is stirred during dredging operation, and has important significance on improving the operation safety of the pipeline robot.
本发明公开了一种水下管道机器人的淤泥清理装置及控制方法，包括移动底盘、推杆电机组件、清淤工具组件、力矩传感器、控制组件，所述移动底盘用于安装其他组件、传感器和控制电路，所述推杆电机组件包括推杆电机、推杆电机底座、推杆电机连接件、固定架一、固定架二、连接杆一、连接杆二、连接杆三，所述清淤工具组件包括清淤骨架、清淤毛刷、清淤毛刷连接件、清淤电机、清淤电机连接件，控制方法为水下管道机器人基于力矩传感器检测清淤毛刷的阻力矩M(t)，从而控制清淤毛刷距离淤泥的距离，实现闭环控制。本发明解决了清淤作业搅动淤泥时泥水浑浊，难以通过视觉检测的问题，对提高管道机器人作业安全性具有重要意义。
Sludge cleaning device of underwater pipeline robot and control method
一种水下管道机器人的淤泥清理装置及控制方法
CHEN XIN (author) / ZHANG JUN (author) / SHEN WENJIE (author) / SONG JIAQI (author) / ZHANG YIRUI (author) / SONG AIGUO (author)
2023-09-05
Patent
Electronic Resource
Chinese
IPC:
E03F
SEWERS
,
Abwasserkanäle
Control method and device of underwater cleaning robot and underwater cleaning robot
| European Patent Office | 2024
Underwater cleaning robot cleaning method and underwater cleaning robot
| European Patent Office | 2024