The Design Of Reversal Robot Between Parallel Pipes

The furnaces are used in long distance pipeline transportation of crude oilsbecause of the poor fluidity. Since the coking can affect exchanging efficiency badly,a reversal cleaning robot is designed which have the abilities of orbiting the pipelines,changing the lanes and traveling along the pipelines and can be used for automaticcleaning of the pipelines in the furnace which has parallel pipelines and release theworkers form the hostile environment of hand cleaning.In this paper, the robot includes3modules: the moving module, the cleaningmodule and the reversal module. The moving module is wheel structure and includestwo states: the clamping one and the loosen one. In the clamping state, reliableorientation and the force for moving can be afforded; in the loosen one, the robot canorbit without additional resistances. Since the two states need to exchange continually,the force closure is adopted to advance the agility and reliability. The cleaning modulediscusses the effect from the parameters of the filaments themselves and theoperations and then analyses the force and power consumption. After controlling thecontact force and the cleaning speed, the rate of cleaning area can reach85%. Thereversal module makes use of the friction to realize the orbiting and adopts dual driverand parallel drive to solve the belt skidding problem. The dynamic angle andelongation characters show the validity of this driving type and feasibility of thescheme.This paper analyses the forces of main states of moving, reverse and cleaning inorder to position the drivers with reasons, optimize the control system and itsadaptability. The reasons of problems appearing in the experiment are analysed andcorresponding improvements are adopted. Further experiment shows the validity andredundancy of the scheme. This robot has the ability to cleaning the furnace havingparallel pipelines and can be used into production.