Structure Design And Performance Analysis Of Pipeline Robot With Crawling Characteristics

With growth of energy demand and booming of industry, cause pipeline construction speed up. Pipe robot is a carrier mechanism, by the appropriate means to complete pipe testing, painting, welding, cleaning etc. With the peristaltic characteristics pipe robot because of not rollover and other advantages,more and more be researched.In this paper, Support by National Natural Science Foundation of China (Research on the mechanism and control method of a flexible pipeline robot.Item Number 50905019) and Dr. Special fund of Department of Education (Research on a flexible pipeline robot. Item Number 20090005120006), through research discovered: (1) Meet continuous and stable work ability in stereoscopic pipelin has been demanded; (2) In straight pipeline operations, large load' carrier robot needs such as Meet spray, cleaning,welding etc. According to the needs of these two types, Support by two Foundations,completed both robots structure, kinematics analysis, study of mechanical properties.Finally complete two type robots' development and experimental.The main research contents are as follows.Firstly, this paper proposes class peristalsis concept, then proposes a peristaltic type walking robot structure. In order to class peristaltic pipe robot that the proposed have the ability to adapt diameter change, proposed an adaptive support structure by the actuator; when the support structural change, in order to ensure the validity of driving,proposed an equidistant transmission structure. Experiments show, Class peristaltic pipe robot has the continuous operation ability in the stereoscopic pipeline.Secondly, in order to achieve autonomous walk ability of class peristaltic pipe robot, proposes a parallel detected traveling control strategy based on feedback.Experiments show, robot can adjusted the robot running speed in advance within visual distance; has the ability that does not occur rigid collision with obstacle because of detect blind; can independent recognize the difference between the curve and the obstacle Experimental results show the effectiveness of the proposed control strategy of walking.Then, to achieve that straight pipe operation needs a large driving force moving vehicle,proposes a new rear brake structural unit. The structural unit uses the increase of internal stress of the body when the deformation of the structure unit happens instantaneously realize the brake, through the unit realize the power forward transfer.The results prove that the brake structure makes the robot have the 65kg load capacity and climbing ability in vertical pipe, structural configuration effective.Finally, this paper completes class peristalsis prototype develop and experimental research; Complete peristaltic pipe robot prototype design, mechanical analysis,simulation research, material analysis, structural optimization, prototype production and experimental research etc.