The Research And Design Of Micro Pipeline Robot Driven By Fluid

Micro in-pipe robot is a kind of special robot used for pipeline detection, cleaning ormaintenance. It receives broad research because of its wide application in the pipeline ofthe military equipment, gas supply, transportation, and so on.Because most of the micro pipeline robot at present is driven by cable, the distance ofdetection is limited, and during the research the influence of fluid is ignored. So this thesisdesigns a micro detection robot used for long distance driven by the fluid flow. It can beused to defect corrosion of the metal pipe about20mm, at the same time, the impellerrotates under the impact of fluid, which can supply energy for battery. Considering theinfluence of the medium in pipe, choose the type and parameters of the sensor, generatorand battery. Then design the shape and size of impeller, validation the strength andstiffness of the impeller using statics analysis method, validation the weak link usingmodal analysis method.The motion of the micro pipe robot in the horizontal and vertical pipeline is analysed,Dynamics model is established, and the finfluence actors for the final velocity is discussed.Then do optimized analysis for support leg, calculation the scope of the adoption to thepipe diamerer.3D model is build. It is used to simulation the robot’s motion through the fluidanalysis software-FLUENT, and analysis the speed and pressure’s distribution situationaround the micro in-pipe robot. Through the integral calculation on pressure, it iscompared with the theoretical calculation.This thesis considers the influence of the fluid, and analysis the interaction betweenthe pipeline robot and fluid, which are very useful in the design and improvement for theother kinds of pipeline robot.