Design And Research On Drive System Of Mechanical Self-Adapted Pipe-Robot

As a kind of economy efficient and safety material transport means, pipinghas always attracts people's attention. In order to raise the life span of piping andpreventing the problem such as aging, decay, split etc, the pipe-robot appearswhich can satisfy the needs of the accuracy and efficiency in diagnosisexamination and maintenance. The pipe-robot can be used in many areas, such aswound exploration, examination and spread of antisepsis coat, identify andcleanup of eye -winker in the pipe, machining in the wed pipe etc.As the development of science and technology, the application scope of piperobotis becoming wider and wider. However, the system of the pipe-robot inexistence only can be applied in a few scopes, so the application of the pipe-robotis limited. So how to improve the adapt ability in the pipe environment and howto enhance the efficiency of the drive and agility of movement become animportant point in the researches.The paper is based on national"863"program"The Research of adaptivedrive technology of tri-axial differential pipe-robot"(the serial number is2006AA04Z236), the important science and technique topics of The Ministry ofEducation"The research of dummy model technology of mechanical adaptivepipe-robot ambulation carrier"(the serial number is 204040) and the scienceresearch fund item of Jili province outstanding youth"The practical technologyresearch of the economical multi-function pipe-robot". The paper studies themechanical adaptive technology of pipe-robot deeply and succeeded to develop apracticality machine of mechanical adaptive pipe-robot.Mechanical adaptive pipe-robot applies a new kind of transmissionmechanism—tri-axial differential wheel system constitute the central differentialunits, which implement the pipe-robot adaptive to the change of pipe circle andthe environment of syphon, increase the move ability in irregular pipe. The robotintroduces the radial radiation support model, makes use of the parallelogram toform the walk unit of the robot, the six drive wheel are fixed on the two end of thethree mechanism separately, the three parallelogram distribute equally on a circle.The robot combines screw nut constraint and spring to constitute close mechanism, which can improve the robot adapt ability to the change of diameterof pipe and realize the initiative unlock function of the robot.The paper takes the tri-axial differential wheel system as the object, studiesthe tri-axial differential technology deeply. By the research on the tri-axialdifferential technology, we build the moment the transmission relation betweenthe input shaft and output shaft of the tri-axial differential wheel, draw map of thepower flow orientation inside the tri-axial differential wheel system, and alsodeduce transmission efficiency calculation formula of the tri-axial differentialwheel system. Taking the radial radiation pipe-robot as research object, the paperstudies its drive force and close force in theory, builds the relationship betweenthe work pose angle and close force caused by gravity and the force relationmodal between drive force and beforehand tighten force.The paper makes use of the 3D design software Pro/E and the dummy modeldesign software ADAMS to build up a digital mode of the tri-axial differentialwheel system, and a kinematics simulation is implemented to validate thedifferential function and the special symmetry of the mechanism. Meantime, webuild the digital mode of the mechanical adaptive pipe-robot, and kinematicssimulation is implemented to validate the pipe-robot with tri-axial differentialwheel system has stronger adapt ability in syphon and the stability of themovement in the pipe.At last, we design the structure of mechanical adaptive pipe-robot andmachining the principle sample. By the experiment of pull and overpass syphonof mechanical adaptive pipe-robot, we can validate that the pipe-robot with triaxialdifferential wheel system has stronger drive ability and syphon adapt ability;also we can validate the move stability in the pipe.