Study Of Schemeand Structural Kinematics And Stability Of Motion Of In-pipe Surface Treated Robot

A pipe robot is a mechatronic system,which can walk automatically inside a pipe.It works in various industrial pipes automatically or under the control of an operator with a remote device.It is popularly applied in the engineering pipes used in industries of petroleum,chemistry,nuclear,city construction and so on,for the purspose of examination,jointing,maintaining,etc.This paper,at first,introduces generally and in detail the state of researching and developing pipeline robot for the purpurse of this problem,meanwhile,pointed out the main problems that exist in the current research and use of the pipeline robot. And the pipe inner surface processing robot research is very important,in the pipe inner surface processing robot system structure design process,the author puts forward specific requirements.Clearly this topic research direction.In the pipeline robot adaptive diameter of the regulating mode,this paper puts forward the worm gear and worm,elevators and ball screw nut pair of three kinds of regulating mode,and the overall design scheme has made the detailed analysis and calculating statics the driving force and speed.When traction Fq was 125kg,Based on the structure and properties of the above three institutions do a comparative analysis,finally determining the adjusting mechanism design scheme,and through Matlab dynamics analysis software simulation,finding out what is the adaptive diameter pipeline robot range for.The pipe inner surface processing robot based on three groups of SD series AC servo motor and worm gear and worm drive to realize,through the control group three motor coordination action,can realize the sequence of advance and retreat robots.When the robot's fastest speed is 80mm/s,the design and check the main part of the robot,and establish the pipe inner surface processing robot virtual prototype, these are built in Pro/E and AutoCAD2006 under the help of the software.When the robot contraction condition,the author studies the robot in the drive pipe load movement,and supporting structure adjustment to the mechanical characteristics of pipe diameter changes.The author analysis the robots driven force and loading of the support structure mechanics characteristic in diameter changes to adjust.In pipe movement circumstance.On the analysis of the factors that affects the stability of in-pipe robot,we established a limited contact mechanics model of in-pipe robot,we attempt to convert the problem of the stability of movement in the pipe into the problem of matrix equations of solving,by computer software Maple6.0 calculation and software Matlab simulation,We find the robot in the key factors of stability of tube, which will provide an anchor for the further development of the pipe inner surface treatment for heavy homework robot.