Research And Design Of Self-adaption In-pipe Robot For Weld Inspection

The in-pipeline robot is widely used for cleaning or inspection for pipeline.At present,the robot has good traveling ability in elbow but poor support stability and driving ability.In view of above problems and combing with design requirements,a suitable wheel-type pipe robot with a diameter range of 800-1200 mm is designed.Firstly,the scheme containing walking organization,adjustable adjustment mechanism and driving mode is selected.Then,according to the mainly identified technical parameters of the pipeline robot,the structure design of the robot is carried out by Inventor 3D software.The optimal design parameters of the robot and drive motor are determined by strength analysis and calculation of the main mechanisms,which provides a reference for the production of physical prototypes in the future.Secondly,ANSYS software is used to analyze the key parts such as sliding plate,screw and support bars.The strength of the key parts is checked to verify the rationality of its structural design,which provides the basis for optimal design of the parts.The simulation experiments of the virtual prototype built in Inventor are carried out with ADAMS software.By analyzing the displacement and velocity curves of the wheel,the self-adaptability and motion stability of the robot are verified.The rationality of robot structure design and parameter selection is further verified.The upper and lower machine form is used for control system.The MCU is selected basing on the design requirements of the pipeline robot's control system.The control circuit of DC servo motor based on LPC2114 is designed.Finally,the hardware and software of the control system are designed.In this thesis,the weld detection robot in pipeline is designed,which is easy to carry the operation tools,and has advantages of simple structure,good motion stability and strong driving ability.It lays the foundation for the development of the subsequent grinding and welding operation module.