Reserch On Small-diameter Industrial Pipeline Robot And Its Driving Performance

For many years, the automate-based in-pipe examination, anticorrosion and maintenance for small-diameter pipeline faced with difficulties, for the technical restriction from pipeline robot driving mechanism. The primary cause lies in the traditional thought format of'list actuation section'and'tri-support radial locating'on pipeline robots. All these facts made it difficult to enlarge the diameter of the driving wheel for small-diameter pipeline robot, which had affected the actuation performance of the robot and limited the fundamental research as well as the practical application of this kind of robots. Supported by self-planned task (NO.SKLRS200802C) of state key laboratory of robotics and system (HIT), in this paper, a new kind of small-diameter industrial pipeline robot is designed according to the special environment condition of small-diameter pipeline; its driving performance is analyzed theoretically, and verified by simulations.In this paper, several actuation plans is raised for small-diameter pipeline robots. By contrasting their advantages and disadvantages, a new kind of actuation plan is taken out, and the corresponding pipeline robot is also designed. The caliber compatibility, obstacle crossing performance, dragging strength in ascending pipe elbow pipe, and the power lose in elbow pipe dragging are analyzed theoretically, basing on which the mechanics anatomic modelTo the pipeline robot's caliber compatibility which, the obstacle crossing performance, the ascending pipe and elbow piece's dragging strength, the elbow piece designs through the time power loss have carried on the theoretical analysis, has established the pipeline robot ascending pipe dragging, the ascending pipe obstacle crossing, the elbow piece dragging mechanics anatomic model, inferred the dragging strength and the pretightening up force relational formula, has given time one elbow piece movement organism posture analysis method. Based on the theoretical analysis result, has carried on the optimization design to this kind of pipeline robot's essential size.Completed the new wheeled small caliber project pipeline robot's structural design, the use finite element software has carried on the rigidity and the intensity check analysis to the essential spare part. Uses the three dimensional modelling software, has established the new wheeled small caliber project pipeline robot's three-dimensional model.Has established the small caliber pipeline robot's simulation model and several kind of simple simulation pipelines, through to the pipeline robot's output dragging strength, the obstacle crossing performance and through elbow piece's time posture change simulation analysis, has confirmed the corresponding mathematical model accuracy which this article theory inferential reasoning and establishes, simultaneously also confirmed this article to propose that the actuation plan on the small caliber project pipeline robot the application feasibility, the robot technology's further research has laid the foundation for this kind of pipeline.