Research On Design And Motion Control Of Pipeline Robot

The research of pipeline detection robot provides a new technical means for pipeline detection and maintenance,and changes the single mode of traditional pipeline excavation sampling.This kind of detection technology improves the accuracy of the pipeline inspection side,makes it easy for the pipeline engineering management maintenance personnel to analyze and understand the causes of pipeline defects,carries out the evaluation of defects,formulates the pipeline maintenance plan,eliminates the hidden danger of pipeline safety,and systematically repairs or replaces the pipe segment before the accident,thus saving a lot of maintenance costs and reducing pipeline maintenance costs,to ensure the safety of people’s lives and property,and to reduce environmental pollution caused by the leakage of toxic gases or liquids.Therefore,it is of great scientific significance and obvious social and economic benefit to carry out the research of pipeline detection robot.Based on the modeling and analysis of the kinematics model of the robot in the pipeline,this paper uses kinematics analysis and development,based on the characteristics of the pipeline robot,to carry on the overall design and modeling simulation research of the pipeline robot,and probes into the application of the robot technology in the field of pipeline maintenance.The specific research contents and main work of this paper can be summarized as follows: On the basis of consulting and mastering a large number of literatures and materials related to pipeline detection robot,the motion mechanism and characteristics of various robot tube motion modes are analyzed in depth and detail,and combined with the characteristics of coal environment and the need of testing operation,through comprehensive comparative analysis,The motion mode which is more suitable for pipeline environment is determined,and the motion control scheme and adaptability analysis of pipeline robot are studied.In this paper,the problems related to the operation Dynamics of pipeline detection robot are analyzed in detail,including the force analysis of robot’s inner space,ground force analysis,traction analysis,freedom Analysis,the influence of multi-curvature radius size and the study of robot geometry constraint in pipeline environment,and the study of motion passage and stability is carried out.The stability of movement in the tube.Aiming at the problem of robot bending and steering control in pipeline,this paper analyzes themotion control mode of pipeline robot,carries on the structure design and the movement mode determination,carries on the key equipment selection and the design based on the material selection,carries on the crawler acquisition device design,the whole several placement design and the pipe diameter adaptability scheme design,The whole design of the pipeline robot is completed,and the walking mechanism is improved,so that the robot’s walking mechanism is more in line with the movement requirements of the gas pipeline tube.Through the solid modeling analysis of the pipeline robot,taking the angle between the driving wheel axis and the pipeline axis and the diameter of the driving wheel as the design variables,the design simulation of the robot’s traction is carried out,and the design variables of the robot’s moving speed are designed by using the angle between the driving wheel axis and the pipe axis and the diameter Through the research on the design and motion research control of pipeline robot,this paper provides a method guide for the optimal design and intelligent control of pipeline robot,and provides a reference for the intelligent control of pipeline robot,which plays a further role in the practical process and industrialization popularization of pipeline detection robot,in the city gas.The safety detection of gas pipeline and the protection of people’s life,property and social stability are of great significance and remarkable social and economic benefits.