Research On Key Technology For Blast Furnace Gas Pipe Inspection Robot

In this paper,blast furnace gas pipeline inspection robot,a kind of electromechanical device,is taken as subject investigated.And several key technologies such as the design of pipe wall thickness detection device,tube type identification and elbow-passing control are researched.As an indispensable mechanism in pipeline defects detection,a new detection device based on magnetic flux leakage is designed.Its principle,structure and dimensional range are discussed in detail.In order to detect exhaustively,there are 20 sensors distributed uniformly along the circumference.By using the screw pair,its diameter can range from 400 to 600 mm,which improved the working adaptability.The compression springs makes elbow detection and passing available.Besides blast furnace gas pipes,it can be used in non-destructive detection for metal pipes in other fields.In general,the pipeline is a criss-crossing network.The robot may encounter L or T type tubes in addition to straight tubes during the moving.If it can not be informed in advance and still moving straight forward,it will get stranded.In order to identify the tube types in advance autonomously,the front and oblique arrangement schemes of sensors and D-S evidence theory were adopted,which combined with the evidence in two cycles from the sensors,both in temporal and spatial domains.The results show that the uncertainty of tube type identification is obviously reduced and the autonomous working ability is improved.The technology of elbow-passing control is still in its infancy.In particular,the pipeline robot involved in this paper needs to coordinate diameter,position and velocity difference of wheels.Based on the hierarchical fuzzy algorithm,the robot's diameter and position are controlled respectively,which ensured a better passing-capability for robot in elbow.The simulation results show that the control model has positive significance for the research of robot's elbow-passing control.