Study On The System Of Snakelike Pipeline Robot

Aimed at the current pipeline robots are difficult to enter the unstructured and complex pipeline operation is difficult,and it's difficult for pipeline robot to adapt to different environment of pipeline,and most of pipeline robots used the mature controller and the integrated development environment by supporting,the cost of control system is high and the applications for pipeline robot is single.Therefore,in order to improve the performance of motion and intelligence level of the robot system.This paper designed the graphical programming development system based on autonomous controller and determined the functions and mutual interaction of each subsystem.This paper mainly completed the following works:(1)Putting forward the whole structure of snakelike robot system,and analyzed the interaction between subsystems.This paper determined the mechanical system and graphical programming environment.(2)According to the requirements of mechanical design,this paper putted forward the walking chassis of three chassis structure,the chassis carried one or more sensors and operating device to complete operation,the walking mechanism used the compliant leg with semi arc structure design with legs,and building a low cost control system of DC motor,completed the selection of drive motor;and a simplified model of mechanical system.Through dynamic simulation verified the rationality of the virtual prototype model of pipeline robot.(3)According to the requirements of the control system,this paper completed the framework design of graphical programming.In order to meet the code separation requirements of interface layer and logic layer,this paper designed the interface layout of graphical programming environment;and designed a visual component as the basic visualization module statement,completed the analysis and design of visual function module.Finally,described the use of variables and functions.(4)This paper completed the data structure design of graphical programming environment,and this paper completed the algorithm flow and some key codes of function.After basic testing,the key technology points of snakelike pipeline robot system has got a regular operation,which provide a solid support for the next expanding development of system.