Research On Design And Simulation Of Tracked Pipe

The pipeline robot is a kind of mechanical device that can walk along the inner wall of the pipeline, and can carry out a series of pipeline maintenance tasks by computer control or manual operation.The pipeline robot to walk longer distance and pipeline is closed, varied and complex, including the horizontal straight tube, pipe slope, vertical tube and the angle pipe and other. The key part of in pipe robot is way it moves, so the robot can smoothly depends on the choice of mobile. There are many kinds of mobile robot, including a wheeled, crawler, crawling, feet, creeping,. The traditional pipeline robot has a lot of defects For example, the obstacle ability is insufficient, adapt to the tube size is too single, the mechanical structure is too complex, not easy to control.The deficiency in traditional pipeline robot designed one section to have the initiative to adapt to the function of crawler robot in pipeline. The crawler pipe robot has a good ability of obstacle surmounting, the machine has the advantages of simple structure, convenient operation, stable performance, can adapt to different pipe diameter changes in the 200mm~300mm range.First through theoretical analysis determine the crawler robot in pipeline design,using Solid Works 3D design software for each parts of the robot are 3D digital design,assembly, to build a three-dimensional model of the overall, real reflect the robot basic characteristic parameters. Then using the ADAMS simulation analysis software of the robot dynamics simulation analysis, obtained in different attitude angle, tilt angle and the diameter of the influence, take the initiative to adapt to device of spiral axial driving force changes.Simulation results show that the attitude angle of spiral axial total driving force and no effect, for a fixed value 828.17 N, and on a single track wheel the axial driving force effect, the minimum value for 255.22 N, the maximum value for 296.89N;inclination and the diameter is of helical gear shaft to the general driving force have greater impact, but the two opposite influence, the inclination of the greater, the required axial total driving force is greater, larger diameter, and the need to axial total driving force is small.Using the ANSYS finite element analysis software of the robot’s driving crank,driven crank and connecting rod and other key parts of finite element analysis, the real force and deformation of the information should be obtained and check the strength.Results showed that, the driving crank, deformation of the driven crank and connecting rod are in the reasonable range strength meet the requirements. At last, experimental studyof this new design of crawler pipe robot recorded its largest crawl speed and maximum climbing angle information, the measured experimental data show that the pipe robot has good stability, feasibility and practicability.Comprehensive comparison, the design of the pipeline robot has a high comprehensive performance, social and practical value, should have a good development prospects.