Study On The Key Technology Of The Drag Reduction Structure Processing Pipe Robot

This paper comes from “The foundation of excellent academic pacesetter in Harbin”. Itputs forward the processing method of hot roller pressing to process the structure of dragreduction groove inner the pipeline surface, and determines the main purpose of the paperwhich is to develop a robot that can processing the certain structure. Then researching andanalyzing of the related performance parameters of the robot to lay the foundation of itsapplication and dissemination.After analyzing the foundation requirement and performance index of the robot, thewhole structure of the robot has been divided into three parts that are walking part, workingpart and adapting of pipe diameter. Through contrast studies the walking structure in commonuse and the adapting structure of pipe diameter, this paper determines the schemes ofperistaltic walking and radial adjustment with screw and nut. According to study the workingcharacteristics of drag reduction structure, it determines the scheme of synchronous rotationwith four rollers. And design the whole structure of the robot by the idea of modularization.The walking part is mainly made up of the structure of bar system that has a complexrelation between motion and effort, and is difficult to calculate, so this paper introduces themethod of genetic algorithm on working part. In this method, the target function is the lightestweight，the constraint condition is the adaptation of the pipe diameter, the strength demotion,position interference and so on.The working part is mainly made up of gear transmission. First, using the theory of geartransmission to compose the structure model of working part and establish the dynamicalequation of working part. Then adopt the simulation analysis method with software ADMASto simulation optimize the much complex parts, such as cam. At last, checking the keycomponents and parts with software ANSYS, complete the optimization design of workingpart.Based on the structure design, this paper analyses the force and motion of the wholerobot, and establish the space motion equation of walking and working states. With softwarePro/E, the paper do the fictitious assemble, motion simulation and interference check to therobot. With software ADAMS, it does the mechanism simulation and analysis to the supportbars and double cam pack. After make sure the whole structure is perfect, this paper completes the parts processing, the debugging of structure assemble and pipeline walkingexperiment.