基于超声法清洗的管道蛇形机器人研究

针对输油管道内壁滞留物难以清理的问题，设计以STM32单片机为控制核心的基于超声法清洗的管道蛇形机器人。利用超声波原理降低管道内壁污垢的附着力，同时通过机械旋转式吸油装置清除油污，达到超声波-机械式双重清洁的效果。利用多种传感器、电机和舵机的相互配合，实现机器人在变管径管道内自移动。进行正交试验、MATLAB仿真以及数理计算分析。结果表明：该机器人能有效清洁管道内壁污垢，具有良好的可操作性和可拓展性，为实现管道内壁远程的清洁和提高油气运输量提供参考。

Research on Pipeline Snake-Shaped Robot Based on Ultrasonic Cleaning

Aiming at the problem that the difficulty of cleaning the stagnant materials in the oil pipeline,a pipeline snake-shaped robot based on ultrasonic cleaning with STM32 single-chip microcomputer as the control core was designed.The ultrasonic principle was used to reduce the adhesion of the dirt on the inner wall of the pipeline,and at the same time the oil dirt was removed through a mechanical rotary oil suction device to achieve the effect of ultrasonic-mechanical double cleaning.The robot own movement in the variable pipe diameter pipeline was realized through the mutual cooperation of a variety of sensors,motors and steering gears.The orthogonal experiment,MATLAB simulation and mathematical calculation and analysis were carried out.The results show that the designed robot can effectively clean the dirt on the inner wall of the pipeline and has good operability and expandability,which provide reference for remote cleaning the inner wall of the pipeline and increasing the transportation volume of oil and gas.