| Pipeline robot is a mechanical device that can crawl in pipelines.As a carrier,it can carry one or more kinds of sensors and operating machinery.It can carry out a series of pipework under the remote operation of the staff or the automatic control of computer.Traditional pipeline robots have many shortcomings,such as poor obstacle obstacle ability,automatic adaptability to pipe diameter,mechanical structure is too complicated and so on.In this paper,aiming at the various deficiencies of traditional pipeline robots,a crawler pipeline robot with adaptive pipe diameter is designed.The pipeline robot has the ability of adapting to the change of diameter and the ability of obstacle surpassing.The pipeline robot can climb in the vertical pipeline with the diameter ranging from 210 to 220 mm.The mechanical structure is relatively simple and relatively easy to control,Stable performance.The main research contents are as follows:First of all,the overall design of the pipeline robot is determined by researching and selecting the moving mode,driving mode and power supply mode of the pipeline robot,and combining with the structural requirements of the pipeline to be adapted.The automatic adapting device of the crawler pipeline robot by using Solid Works 3D modeling software,Crawler walking device for three-dimensional digital design,and then the overall assembly,and truly reflect the three-dimensional model of pipe robots and the basic characteristics of the parameters.Then,the working condition and stress of the pipeline robot are analyzed.The more positive pressure the pipeline provides to the inner wall of the pipeline is 157.8N when the robot is in the vertical pipeline.Based on this,The robot's adaptive mechanism is statically analyzed to find the amount of spring force required by the spring to meet the requirements of the pipeline robot for obstacle avoidance when the diameter of the tube is 220 mm and the diameter of the tube is 210 mm.Cylinder coil springs are automatically designed to accommodate the structural dimensions of the pipe robot.The ADAMS dynamic simulation analysis proves that the designed spring can provide the crawler wheel with enough pressure to support the inner wall of the pipeline,so that the robot can be attached to the pipeline to climb and cross the obstacle.The ANSYS finite element analysis software was used to carry out finite element analysis on the key components such as the active crank,driven crank and connecting rod of the pipe robot.The real structural stress maps and deformation maps were obtained and analyzed Test the strength and rigidity of the major components of the pipeline robot.Finally,the adaptive design and optimization of the adaptive mechanism of the pipeline robot are optimized by ADAMS optimization design function module to ensure the transmission performance of the adaptive mechanism of the pipeline robot is improved under the condition that the designed spring performance is unchanged.Increasing the forward pressure of the pipe robot's crawler wheel on the inner wall of the pipe increased from 182.25 N to 203 N,an increase of 11.4%,enabling the pipe robot to better adhere to the inner wall of the pipe for crawling and obstacle clearance. |
