Structure Design And Simulation Of Multi-joint Pipeline Robot

In modern life and production,pipeline transportation is indispensable.Pipeline transportation has been widely used in petroleum industry transportation,natural gas transportation,domestic water transportation and other domestic production.However,due to the defects of pipeline itself and the influence of external environment such as vibration,heavy pressure and corrosion of transport objects,pipeline will inevitably be damaged and leak.In order to prolong the service life of pipelines and ensure the safety and smoothness of pipeline transportation,regular inspection and maintenance of pipelines must be carried out.In view of this use environment,this paper designs a multi-joint pipeline robot to facilitate safe and accurate pipeline maintenance personnel to understand the internal situation of the pipeline.The main design work is as follows:Firstly,by consulting a large number of domestic and foreign literature on pipeline robot research,we can understand the current hot research direction of pipeline robot,its technical level and application environment background,and make corresponding planning and design for the research content of this paper.Secondly,according to the limitation of the environmental conditions in the pipeline,the technical requirements of the pipeline robot designed in this paper are put forward.In order to better carry detection equipment,improve working time and increase the length of detection pipeline,a pipeline robot which can quickly increase the mobile module is designed to facilitate the use of staff.In the overall design of the multi-joint pipeline robot,several design schemes are proposed for the design of the main components,and the scheme suitable for the design requirements of this paper is determined in each scheme.Thirdly,the dynamic mechanism,variable wheel pitch mechanism and steering mechanism of multi-joint pipeline robot are introduced in detail.The kinematics and dynamics model equations of multi-joint pipeline robot are theoretically analyzed and calculated,and the corresponding theoretical calculation and verification are made for the important design indexes.A detailed three-dimensional model of the designed multi-joint pipeline robot is established by using the three-dimensional modeling software Pro/E.Finally,finite element analysis and virtual prototyping technology ADAMS software are used to simulate and optimize the multi-joint pipeline robot to verify whether its performance requirements meet the design requirements.It can lay a certain technical accumulation for the production of the later prototype.