Research On The Obstacle Surmounting Capability And Traction Force Of Pipeline Robot

As a kind of special robot, pipeline robot can enter in the complex pipeline environment where human isn't able to arrive, It can accomplish task such as checking weld,discovering leakage and cleaning pipeline.This paper is based on the project"the designing of equipment with drains cleaning"(No:DQGX07YF001),which is funding by Daqing High Technology Developing Zone. In the produce, we adopt some new method such as theoretical analysis, simulation with virtual prototype in the computer and experiment in the lab to solve the problem.Based on the pipeline robot used in the large diameter pipe (φ400～550mm), we research on the theory problem such as suit for pipe diameter, surmount obstacle and traction force. Aimed to suit for the changing pipe diameter, we proposed several adjusting organization and analysis them with mathematics model. Aimed to the problem of passing through the bend, we analysis the size of pipeline limited with the specific bend and build the matrix to proof the ability of passing through the bend. Aimed to the problem of the inadequate of traction force, we discus the resistance of pipeline robot walking in the pipe filled with mud.In the end, we designed a new kind of pipeline robot and manufacture it .We do some experiment such as adjusting the diameter and walking in the straight pipe with it.