The Research On The Robot Of Measuring The Internal Diameter Of The Pipeline Online

A kind of new-type project on the robot measuring the internal diameter of the long distance pipeline online is put forward on the basis of summarizing the traditional robot measuring the pipeline online. The robot is driven by the power generated by the medium flowing in the pipeline, thus simplify the design and reduce the cost by cutting the dynamical equipment.In this paper, the author present a kind of better scheme after analyzing and comparing the scheme on the pipeline robot of measuring the internal diameter online at first, then design the structure of the pipeline robot according to this scheme.The author carry through the research on the stepped-characteristic of the robot using hydro-mechanical knowledge, put forward the method that make the robot can keep operating steadily under the state of diving the body. At the same time, build the three-dimensional entity's modeling of the structure of the robot using Pro/Engineer2001 software and complete the dynamic simulation of the movement state in the distortion position of the pipeline using dynamic simulate software, so the correctness of the design is proven.Finally, The author study the robot-detection method of measuring the internal diameter of the pipeline online, describe the data acquisition method provided by ultrasonic wave and the basic scheme of data communication and lay a solid foundation for the realizing the robot-system of measuring the internal diameter of the pipeline online.