With the continuous development of science and technology, advanced robotics technology has made achievements. It is widely used in mining, metallurgy, petroleum, chemical, shipbuilding and other traditional manufacturing sectors, but also gradually expanded to nuclear energy, aviation, aerospace, pharmaceutical, biochemical and other high-tech fields as well as household cleaning, medical rehabilitation and other services in the field [ 3]. But for urban sewage, natural gas, industrial material handling, plumbing and ventilation systems of buildings such as the use of large amounts of complex hidden pipes, how quickly Paidu economical and timely maintenance and repair will be our biggest problem, so the development and development of variable diameter pipe can walk freely within the system and make the inner diameter of pipe cleaning pipe cleaning robot variable will bring significant benefits to society [4].
随着科学技术的不断发展， 机器人技术已经取得了先进的成果。它广泛地应用于采矿、冶金、石油、化学、船舶等传统制造业领域， 同时也逐步扩大到核能、航空、航天、医药、生化等高科技领域以及家庭清洁、医疗康复等服务业领域中[3]。但是对城市污水、天然气输送、工业物料运输、给排水和建筑物通风系统等使用着大量复杂隐蔽的管道，如何经济而又迅速地排堵以及及时维护检修将是我们面临的最大难题， 因此研制和开发能够在内径可变管道系统内自由行走并进行管清理的内径可变管道清理机器人将会给社会带来重大效益[4]。

A variable-diameter pipe cleaning robot overview
 内径可变管道清理机器人总体介绍

When the robot enters the pipe diameter changes, you need to change with the pipe diameter to adjust the diameter of detection devices. Cleaning means and the support wheel periphery where the diameter of the robot in order to facilitate ease the process of cleaning, stable and accurate design of the following apparatus, the following structure.  http://www.ukthesis.org/Essay_Writing/
For pipe cleaning robot in the pipeline to facilitate the process of cleaning using a lightweight impeller 6 (7 driven generator) to provide impetus to the feed, while the body of the adjustable support wheels close to the pipe wall solid security, the robot head portion mounted with the camera 1, the imaging head controller [5] The role of down detect changes in the thickness of the front pipe diameter, the signal returns to the central controller and then adjust the role of the central controller 2 projecting length of cleaning brushes, in appropriate lengths (hydraulic controls), clover cleaning brush (120? angle) of the spindle 11 driven (shaft generator 9) under rotation, the implementation of the clean-up work on the wall.
为了管道清理机器人在对管道清理的过程中方便轻巧采用了叶轮6（发电机7 驱动下）来提供进给的推动力，同时机身上的可调节支撑轮紧贴管道内壁稳固安全，机器人头部安装有摄像头1，在摄像头控制器[5]的作用下来探测前方管道内径的粗细变化，将信号返回到中心控制器，然后再中心控制器的作用下调节清理刷2 的伸出长度，在适当的长度下（液压控制器），三叶清理刷（120?夹角）在主轴11 带动（主轴发电机9）下进行旋转，实施对管壁的清理工作。#p#分页标题#e#
The second variable diameter of the structural design of the cleaning device

When the robot enters the pipe, in order to clean thoroughly cleaned, cleaning brushes during the rise and fall of precision and stability, pressure sensors [6] to obtain precise pressure values ​​in the design process using a hydraulic device to control, cleaning brush holder The card can be extended triangular block stretch on the rise with strong support when contacting triangle, triangle Card Blanks Card pushed back but the instant they stretched out to achieve a small scale up, up steadily; When lowered, the hydraulic pressure sensor will force the triangular block card retracted, while hydraulic fluid recovery controller, so it will stand clean smooth back down and will not appear violent collisions, safety and high stability.
In order to clean thoroughly cleaned with a brush at 120 ° angle of [7], formed by the three cleaning brushes, while in the cleaning of pipes of different materials or debris in the pipeline need to be cleaned may be of the general type of cleaning brush has different requirements, so the bracket at the top of the establishment of two free switches, used to replace the cleaning brushes of different materials, has reached more cleaning effect, safe and stable but also improve the cleaning efficiency.

Workflow cleaning device 3

Cleaning device for a variable diameter of the structural design, in order to better understand and analyze the working principle of the device, cleaning device drawn flowchart of the operation [8], clearly demonstrated that the flow of hydraulic controls make cleaning brushes and pressure The role of time and location of the sensor.

4 variable diameter pipe cleaning robot works

Variable diameter pipe cleaning robot cleaning device with work flow chart shows the working principle, when the robot is in the pipeline, the detection of the camera, the camera controller analyze the obtained signal to the central controller when the received signal for the front of the pipe diameter increases, then the camera will be under the control of the camera controller to continue upward movement detection, while the central controller will send signals to the hydraulic controller, under the pressure of the liquid cleaning brush along the support bracket Block control of small scale rises and when the upper bracket just contact with the pipe wall, the top of the pressure sensor pressure will return to the central controller to determine whether the pressure is suitable working pressure, if not reached stents continue to look outward stretching until it reaches the appropriate pressure, the spindle motor driven rotary cleaning brush rotating on the wall implementing cleanup.

To detect when the camera becomes smaller pipe diameter, then the central controller will signal that the camera down, and a stopper pin holder under the action of the hydraulic control block will be separate from the card, then back down to a certain height, the impeller driven next move, and then done, when the pressure sensor reaches steady job security, the clover brush driven by the spindle to clean the pipeline, and according to the pipe material and the pipe can choose to replace the different debris cleaned up properly Brush has been to achieve the best cleaning results.#p#分页标题#e#

5 Experimental Validation and Analysis

In order to clean the apparatus to achieve the best results, requires proper selection pressure and speed conditions of the experiment to allow the brush to brush clean the test example, the cleaning effect of the cleaning brushes and the wall η and pressure p ( constant speed) and spindle speed n (constant pressure) data were measured and plotted graph:
And the above two sets of graph data, and can be clearly seen, the cleaning effect of the cleaning brushes and the wall of the pressure associated with a positive trend, so the process of cleaning can be appropriate to increase the pressure to enhance the cleaning effect, but not too high to avoid damage cleaning brushes; aspect in speed the higher the speed the more obvious cleaning effect, but when the speed is increased to a certain value when the cleaning effect of relatively slow growth, so from the viewpoint of efficiency and economy speed should not be too high. Based on the above two considerations, in order to achieve higher cleaning efficiency and improve the economy, this experiment chose 1.0kpa and 980r/min experience to carry out experiments, the cleaning effect of 87%, and the economic security and stability.
The robot device tested under laboratory conditions, in the course of the experiment for obvious observation robot cleanup process, experiments have chosen a 1m long and a diameter of 10cm length 1m 20cm in diameter two are 1cm thickness The transparent plastic tube connected component tube wall before the start of the experiment covered sediment, and then began to experiment inspection device for no reason, it will be cleaned robot into a transparent plastic tube, start the robot control switch, the robot will driven by the impeller into the plastic tube, the test due to the use of transparent plastic tube to test the visible and clearly saw the cleaning brush stable and accurate work, the camera can adjustable tube diameter at the accurate analysis of the changes, cleaning brush You can also freely adjustable tube mouth cleaning brush transform the height adjustable support wheel while supporting role also clearly visible, thanks to the two ends from the spout conducted two experiments, the realization of the large diameter to small and small to large changes in both the detection of a single whole cleanup process takes about three minutes, after almost no mud wall after cleaning, to achieve the desired effect, the cleaning device to achieve stable, fast and accurate target.

6 Conclusion

This design of the variable-diameter pipe cleaning means cleaning robot, the robot controller by the camera head, cleaning brushes stand hydraulic controller, pressure sensor, generator, impeller, adjustable support wheels and a central controller, etc. series of devices to achieve a robot in the variable diameter pipe cleaning process, cleaning up frame design uses a small scale hydraulic control pause, extension and retraction of the stent precise and stable, while in the head with a pressure sensor so as to effectively obtain the optimum working pressure cleaning efficiency is greatly improved. This device has a fast, stable and accurate advantage, for the inner transformation of the pipe cleaner has a great advantage, for the future design of pipeline cleaning robot has a good reference value.#p#分页标题#e#