Mechanical Performance Analysis Of A Type Of Peristaltic Pipeline Driven Walking Mechanism

At present,when the pipes used for long time need to be cleaned,tested and repaired,the pipes in the dangerous environment are difficult to be worked by people,so the pipe driven walking mechanism is needed to replace the manual work.A large number of researches have been carried out at home and abroad,and various walking mechanisms for pipeline driving have been developed.In this paper,based on the characteristics of several main types of pipe driven walking mechanism and the problem of realizing large traction force in the limit and long space,a new type of worming pipe mechanism is proposed.In this paper,a worming pipe mechanism is selected as the research object.Firstly,the structural composition and walking principle the mechanism are briefly introduced.The commutation mechanism of incomplete gears and racks is used as the main driving mechanism,and the meshing process is analyzed,and the angle of the toothed part and the number of gears tooth are calculated.The interference of the first tooth and the last tooth is analyzed,and the scheme of tooth repair is given.The stroke and allowable error of the stroke are calculated.Then,the movement of internal structure is analyzed when the body moves.By calculating the freedom of the motion mechanism,the conclusion is drawn that the body has definite movements.The mechanical model of the motion mechanism is established,and the driving torque formula is deduced based on the virtual work principle.According to the force condition of walking feet,the conditions that should be satisfied for walking without skidding are analyzed.According to the geometric relationship of the moving mechanism,the formula for calculating the length of walking step of the body is derived.Finally,the virtual prototype model is established by using ADAMS.Based on walking in the straight pipe,the rationality of the structural design of the driving mechanism and the feasibility of the movement are verified.Through the motion simulation of the commutation mechanism of the incomplete gears and rack,the theoretical analysis of the motion of the mechanism is verified.In order to verify the drag force of the walking mechanism,the size of traction force was measured.In order to verify correctness of the formula for calculating driving torque deduced before,the torque of incomplete gears is measured when the required traction force is achieved.By measuring the length of walking step,the correctness of the formula for calculating the length of walking step is verified.