Screw Pipe Robot And Research On Its Characteristics

In recent years, pipeline has become an indispensable component in the transportation of oil and natural gas, and brought immeasurable convenience to the production and life. As the pipeline in the practical process will be corrosion, deformation, cracks and other pipeline damage, pipeline robots replace traditional pipe inspection and appear, which greatly improves the efficiency and safety of pipeline operation. But at this stage most of the full-featured pipeline robot are running in the diameter of ? 150mm large straight pipe or a larger radius of curvature of the curved pipe. For the inspection of small and medium diameter pipe , this paper propose a small and medium diameter robot which can adapt to the change of diameter and span a certain height and can pass through the limit curve, and the theoretical analysis and simulation of its obstacle capability and corridor passing ability are carried out.In this paper, the movement mode, the detection mode, the communication mode and the power supply mode of the pipeline robot system are discussed and determined, and the basic scheme of the robot system is determined,and then we designed the structure of the pipeline robot. In this paper, the driving force and the moving speed of the robot are studied, and the driving force mechanics model is established, and the expression of the driving force is deduced. For the cornering problem, the theoretical analysis is carried out. The size constraint equation and the motion equation of the process are established, and the theoretical trajectory of the curve is drawn, and the bending attitude is analyzed and studied. The mechanical model of the spiral unit driven wheel across the obstacle is established, and the obstacle correlation equation is deduced. The influence of the spring stiffness coefficient k and the initial preload force FT and the diameter of the wheel on its obstacle clearance capability is analyzed.The virtual prototype model is established in Adams. The influence of the spring preload of the traction unit and the friction coefficient between the wheel and the pipe wall on the traction force are analyzed by kinematic simulation. The correctness of the theoretical analysis of traction is verified. This paper studies the obstacle clearance capability of the drive wheel and the support wheel, verifies the correctness of the obstacle theory, and combines the traction simulation results to determine the approximate parameters of the spring in the traction unit.The ability of the curve of the robot was carried out by the movement simulation, which verify the correctness of the curve theory, and the best cornering attitude angle is got.Finally, the prototype of the pipeline robot was made and tested experimentally. We tested the running speed at different helix angles, the traction capability of straight and corners, and crawling ability and cornering ability. The test results show that the designed robot has a speed of about 15m/min and a traction force of 30-38N,and can pass through the vertical pipe and elbow to meet the design requirements.