Design Of Inspection Robot For Urban Underground Pipelines

The underground drainage pipelines are the center of the city,which bear the responsibility of the normal operation of the city,and concerned with the quality of people's life.Due to prolonged underground laying,pipelines maintenance problems highlighted.Usually,the maintenance of the pipelines is done manually,but the harsh environment in the pipelines make the manual operation inefficient and the security risk increases.For this reason,the pipeline inspection robotic system that can replace manual work come into being.Firstly,according to the requirements of the design index of the pipeline inspection robot,the overall scheme is determined and the three-dimensional model of the pipeline robot was established.Secondly,The static analysis method is used to analyze and rationalize the lateral overturning and tow cable forces of the robot.the mathematic model of obstacle avoidance of pipeline robot is established,and the obstacle of the front,middle and rear wheel of the robot are analyzed in detail.This paper researches the influence of robot driving speed,lifting height and driving direction on the obstacle ability of the robot by using the methods of parametric analysis of design study in ADMAS.The mathematical model of whether the air spring is supported by the Pan-Tilt lifting mechanism is compared and analyzed.The design parameters of the Pan-Tilt lifting mechanism are optimized by the methods of parametric analysis of optimization,and the influence of Pan-Tilt lifting speed on Pan-Tilt motor is also studied.In addition,the structure of the pipeline inspection robot is designed by using SoildWorks.Taking the robot crawler as an example,the method of motor selection is given.The design of pipeline robot crawler structure,Pan-Tilt structure and the automatic retractable cable car are designed respectively by modular design method,and the anti-corrosion and seal design of pipeline robot are introduced.Finally,a set of physical prototype of pipeline robot was developed and a series of test experiments were carried out,which including robot maneuvering performance test,Pan-Tilt performance test,waterproof performance test,cable car automatic winding performance test,robot actual pipeline test.The experimental results show that the developed physical prototype can satisfy all the design indexes of pipeline inspection robots.