| Pipeline,as a carrier of transportation and conduction medium,appears in all aspects of industrial production and people's life and plays a pivotal role.Such as Tiangong,Jiaolong and other high precision terminal equipment oil and gas transmission,factory production of acetylene,oxygen,hydraulic oil transmission,and then to People's Daily life of the water,natural gas transmission,are inseparable from the participation of pipelines.Because of the advantage of high strength and stiffness of its own material,metal pipeline plays an important role in pipeline transportation.But in the process of pipeline,pipe wall quality also is not indestructible,immutable,because its different properties of different materials,such as PVC pipe may be scratched or fracture cause leakage,because the pressure was too high metal pipe will be different because the transportation medium or its environment caused by the different pipe corrosion and cracking.And the leakage of different media will often cause incalculable consequences,such as fire,lead to explosions,cause the factory to stop production,or even pollution of the ecological environment,not only harm human life,lead to irreversible damage to the ecological environment,but also produce huge economic losses.Therefore,it is particularly important to carry out inspection,maintenance and other later work to timely prevent and control disaster losses and economic losses.However,the transportation of pipeline is not only composed of straight pipe,in most cases,the layout of pipeline needs to have most of the turns and specific route layout,therefore,elbow is an indispensable link in pipeline transportation.Due to the particularity of the structure,corrosion and fracture are more likely to occur.Once the leakage problem of corrosion and rupture occurs,the most commonly used method nowadays is replacement,but it will occur such as the problem that most urban pipelines are buried underground,which is not easy to replace.Therefore,it is necessary to inspect and repair the inner wall of pipeline,especially the inner wall of elbow pipe,and it is of certain technical difficulty.Today's pipeline robots are mostly used in straight pipes,but the bending pipe is often difficult to work in the bending pipe because of its higher requirements for structural passability.The research of the thesis on the bending robot is as follows:(1)according to the existing situation of poor elbow mobility of pipeline robots,this paper explores the design of a drive module applied to the elbow robot,so that the pipeline robot applying the drive module has better elbow mobility,thus increasing the working distance and ensuring the stability of the operation.Moreover,the designed driving module adopts a new form of motion structure,which guarantees the practicability of modularization and has a smaller volume.(2)in combination with the driver module structure involved,key parameters calculation of pipe bending robot driver module with bend curvature radius,bend pipe diameter,and creep numerical relationship between interval,it is concluded that the numerical relationship can be made to the design of the driver module for more convenient,but also can test the feasibility of pipeline robot in elbow.It provides a certain foundation for the subsequent automation design of the bending robot.(3)according to the calculated numerical relationship,the design parameters of the structure of the driving module of the pipeline robot are verified,and its passability in the curve is theoretically obtained.The 3d CAD software is used to model the designed driving module and analyze its structural integrity.The established 3d CAD model was imported into the CAE software ADAMS for kinematics analysis to verify the model's passability in the curve,so as to prove the correctness of the model and the calculated numerical relationship. |
PDF Full Text Request