可自适应3-4英寸管道的轮式机器人，实现狭窄空间内灵活巡检。
Development of a Practical Articulated Wheeled In-pipe Robot for Both 3-4 in Force Main Inspection of Sewer Pipes
- 采用舵机+扭簧结构，通过PWM与位置反馈控制关节角度。
- 实测在3英寸和4英寸管道中均能顺利通过弯道与变径段。
- 适合城市排水管网巡检，尤其适用于复杂狭窄管道环境。
本文介绍了一种实用的关节式轮式管道巡检机器人AIRo-7.1，具备防水防尘功能，可适应内径3至4英寸的污水管道。通过PWM开环控制调节关节扭矩，中间关节采用位置反馈控制系统，其余两关节则依靠扭簧实现弯曲。该简单高密度设计不仅缩小了机器人体积，还实现了宽范围的管径适应性。由于所用减速器为自研设计，需预先通过实验确定实际中关节扭矩与PWM占空比的关系。为验证自适应能力，分别在3英寸和4英寸管道中进行了包含竖直段、弯道及变径段的实验，最终完成实地测试。结果表明，机器人对不同管径及光滑环境具有优异适应性，但防水防尘性能尚不完全达标。
原文摘要 · Abstract (English)
This paper reports a practical articulated wheeled in-pipe inspection robot "AIRo-7.1" which is waterproof and dustproof, and can adapt to 3 to 4 in inner diameters. The joint torque can be adjusted by a PWM open-loop control. The middle joint angle can be controlled by a position feedback control system while the other two joints are bent by torsional springs. Thanks to this simple and high-density design, not only downsizing of the robot but also wide range of the adaptive inner diameter were achieved. However, the relationship between the actual middle joint torque value and the PWM duty ratio should be pre-known because the reducer used in AIRo-7.1 was designed by ourselves. Therefore, preliminary experiments were conducted to clarify the relationship between them. To examine the adaptive movement, experiments in both 3 in and 4 in pipes with vertical, bend, and diameter change sections. Finally, field experiment was also conducted. From the results, high adaptability to different inner diameters of pipes and slippery environments were confirmed although waterproof and dustproof were not perfectly working.
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