The Spiral Driven and Control Method Research of the Pipe Cleaning Robot

摘要

Developed a spiral walking drive system of a two-body and two-row and six-legged pipe cleaning robot. In the two parts of the body have two rows and six support legs which evenly distributed along the circumferential, and each leg can be stretched along the radial direction. Therefore, it can be moving in a variety of different diameter pipe. The two parts of the body are connected with the hollow flexible axis, it can be moving in the curved pipe. Though controlling the positive and negative or size of the supporting leg’s wheel angle, the robot can achieve forward or backward and continu-ously variable transmission.