The Kinematic Characteristic And Simulation Analysis Of The Pipeline Internal Plugging Robot

In the face of the leakage of dangerous energy such as oil and natural gas,the first consideration is that some measures should been taken to plug the leaking pipeline.Due to most of the pipelines are laid underground and it's space is very small,workers are unable to plug the leaking pipeline timely.Therefore,the development of a pipeline robot with plugging function has important practical significance for the emergency treatment of the leaking pipeline.Firstly,in this paper,the structure of the in-pipe plugging robot is designed.Considering the adaptability of the overall structure of the in-pipe plugging robot to the environment,it is determined that the in-pipe plugging robot is divided into a robot unit,a connection unit and a plugging unit by adopting the design idea of module serial connection.For the robot unit,it is determined that the whole unit adopts the method of motor driving,spiral motion and spring support.At the same time,the steering gear is added to the driving unit.The adjustment of the deflection angle of the drive wheel by the steering gear can control the forward speed of the robot in the pipeline.The connecting unit adopts a cross universal connector to increase the flexibility of the overall structure and its performance of passing through the elbow.For the plugging unit,it is determined that the airbag plugging method is a good choice finally,which realizes the quickness and convenience of plugging.Secondly,in this paper,the kinematics characteristic of the walking process of the robot unit in the straight pipe and the variable diameter pipe is carried out by using the coordinate transformation method,and the theoretical equation of the robot walking speed is obtained.Theoretical equation analysis shows that if the robot wants to walk in a straight pipe and a variable diameter pipe,the deflection angle of each driving wheel must be kept the same,and the direction of the robot walking speed is only related to the direction of the motor's speed,and the magnitude of the robot walking speed is proportional to the magnitude of the motor's speed and the deflection angle of the drive wheel,and is inversely proportional to the pipe's reduction factor.The walking process of the robot unit in the bend is analyzed from the perspective of analytic geometry.It is concluded that the robot must ensure that the speedcomponents of the respective drive wheels are different from the center of curvature of the bends in order to pass the bends.The robot's correct walking trajectory curve is obtained by using MATLAB software to simulate the walking trajectory of the robot unit under different pipeline conditions.Finally,the climbing performance,walking speed,traction,and the bend passing performance of the in-pipe plugging robot are studied by using simulation analysis and the experimental verification method.It is concluded that the structural design of the in-pipe plugging robot in this paper basically meets the expected design requirements.