| Pipeline plays a significant role in medium transmission,which has the characteristics of easy to wear and difficult to detect.The emergence of pipeline robot has provided a solution on waste of human resource,high risk and low accuracy in the complex detection environment.Therefore,the research of the pipeline detection robot system is of great significance to the improvement of the reliability of the infrastructure and industrial equipment.The portable variable-diametered pipeline roundness detection robot system has been introduced in this paper.The robot can realize working and telescoping motion,as well as revolving laser sensor to achieve roundness detection operation with pipeline inclination less than 17 degrees and pipeline diameter in the range of ?290mm~?412mm.A novel pipeline detection robot structure is proposed to satisfy requirements of pipeline roundness detection.With the idea of modular design,the structure can be divided into two parts,the movement mechanism and the turntable mechanism.The motion mechanism combines circumferential positioning drive mechanism and double screw scissor type mechanism,to realize working and variable diameter in the pipeline.Symmetrical design can ensure the central axis of the movement mechanism is parallel of the central axis of the pipeline,to reduce the system error in structure design.The turntable mechanism can realize rotation and stretch movement,through the symmetrical rigid supporting design,to make the system stable support in the pipeline and to reduce environmental error when the rotation system collecting data.Meanwhile,the turntable mechanism is equipped with a laser sensor,to complete the roundness measurement through rotation.In order to test abilities of the pipeline detection robot system,the paper develops the experimental pipeline robot system for motion control experiment,climbing ability test experiment and roundness measurement experiment.Motion control experiment illustrates that the experimental system is of great uniform motion and the maximum speed of it is 7.44m/min.Climbing ability test experiment demonstrates that the system can carry out operation and motion detection in the case of slope less than 17 degrees.Roundness measurement experiment shows that the system can realize uniform walking,the telescopic motion control and the operation of roundness measurement in the pipeline range of ?290mm~?412mm.In the paper,the pipeline detection robot system is optimized through theoretical analysis and mathematical model design.The feasibility of the portable variable-diametered pipeline detection robot system is verified through motion control and roundness measurement experiments.The paper provides a feasible automation equipment for pipeline inspection work. |
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