Design And Research Of A Hybrid Driven Pipeline Robot

With the development of industrialization,pipelines have been applied to various fields in a large area,and necessary pipeline maintenance and inspection have ensured the transportation efficiency and safety of materials.Due to the existence of a series of problems such as high cost,inefficiency,safety and accessibility of human maintenance and the development of pipeline robots,more and more scientific research institutions and universities have set their sights on the field of pipeline robots.Because single-drive pipeline robots cannot adapt to complex pipeline environments,researchers have focused on hybrid drive pipeline robots with multiple drive modes.Hybrid drive pipeline robot,a pipeline robot with multiple drive modes.This multi-mode driven pipeline robot can adopt different driving modes for different internal environments,which enhances the adaptability and obstacle-obstacle ability of pipeline robots in the pipeline.The hybrid drive pipeline robot designed in this paper selects the support drive and the spiral drive for hybrid drive.The three-dimensional digital modeling design of the hybrid drive pipeline robot was completed,and the ANSYS analysis of the key force parts was carried out to ensure the rationality of the parts with large force.The supporting drive unit selects a 3-UPU parallel mechanism with a continuous rotating shaft,analyzes the feasibility of supporting driving in the tube from the working space and geometrical limit theory of the parallel mechanism,and verifies it by motion simulation.The feasibility of moving inside a curved pipe.The dynamic equation is established by the virtual displacement method,and its dynamic characteristics are analyzed and verified,which provides theoretical support for the prototype selection of the prototype.The spiral drive unit selects the design of the four-blade spiral,and the trajectory of the spiral of the screw mechanism in the straight pipe and the curved pipe when the screw is driven,through the mathematical modeling method,the passage of the screw drive in the curved pipe and the inside of the pipe The numerical analysis and verification of the obstacle avoidance ability.Finally,the ADAMS simulation experiment is carried out on the hybrid drive pipeline robot to analyze the traction force under different tube environment and different helix angles,determine the traction force of the pipeline robot under certain working conditions and further the range of the spiral angle.Subsequent prototyping and robot performance testing were performed for simulation verification.