Research On Four-wheeled Full-drive Pipeline Robot

Pipes widely applied in modern industry,agriculture and daily life,but due to their own defects and subject to vibration,stress,corrosion and other external environment for a long time,the pipelines would inevitably be damaged,and cause a series of accidents,such as oil leakage.In order to prolong the service life of the pipeline and ensure safe and smooth pipeline transportation,the pipeline must be regularly and effectively detected and repaired.Most of the existing pipeline maintenance robots are difficult to regulate attitude,and have poor abilities of the obstacle avoidance and capability passing through the elbow.Aiming at solving the above problems,a kind of four-wheeled full-drive pipeline robot is presented,which has the advantages of high flexibility,high traction,and can quickly adjust the attitude.The main contents are as follows:1.Combined with the functional requirements of the pipeline inspection robot and the internal environment of the pipeline,the design scheme of the four-wheeled full-drive pipeline robot is put forward.The design of the robot drive mechanism,supporting mechanism and steering mechanism is completed.2.The dynamic models of the robot in different states are established,and the mechanical properties such as the traction force and the closing force of the robot are analyzed.The motion trajectory equation and the steering speed ratio of the robot are determined.The rotation mechanism of the robot in pipe is analyzed and the corresponding suppression methods are put forward.3.The optimization model of the supporting mechanism is established,and the parameters of the supporting mechanism are optimized.The simulation environment of the pipeline robot is constructed and the virtual simulation of the maximum traction,passing-capability in elbow,attitude adjustment and obstacle avoidance is carried out.4.The pipeline robot control system including the hardware system and software system is constructed.The design of hardware system mainly includes the selection of control chip,the motor,the drive and the design of surrounding hardware circuit.The design of software system mainly includes the design of motion control system and the communication system,as well as the design of the interactive interface.5.The pipeline robot prototype is developed;the test platform is built;and the maximum traction is tested.The capability passing-through the elbow and the obstacle avoidance ability of robot are also tested.Through the analysis of the experimental data,the practicality and reliability of the robot are evaluated and the improvement plan is put forward.