Design And Analysis Of Hybrid Adaptive Pipeline Robot Driven By Fluid

With the development of urban demand and industry,the pipeline has become an irreplaceable means of transportation.The particularity of the use of the pipeline makes it easy to be affected by the internal fluid and external environment,and gradually aging,corrosion and even damage.Pipeline robot is a kind of inspection equipment carrier that can walk in the pipeline,which makes it play an irreplaceable role in the maintenance and repair of pipeline engineering.The pipeline robots in the existing data have some disadvantages,for example,they can not meet the energy supply problem of long-distance pipeline movement,and the robot can not fully deal with the problem of changing the inner diameter of the pipeline.Through the summary of previous research,comparing the movement characteristics of various kinds of existing pipeline robots,combined with the special working conditions of the long-distance water pipeline targeted by the robot in this subject,the motion mode of the pipeline robot in this study is determined to be driven by the fluid in the pipe,and two different energy conversion structures of the fluid drive are discussed,and the umbrella type fluid energy conversion mechanism is determined as Robot receives fluid energy unit.Based on the umbrella type fluid energy conversion mechanism,the mechanical structure of the robot is designed,which mainly includes the hybrid adaptive mechanism,the motion meter mechanism and the attitude adjustment mechanism.Analyze and calculate each functional unit,determine the configuration scheme of each part and the overall structure of the pipeline robot,and complete the establishment of the three-dimensional model of the robot.In order to realize the robot can work in the pipeline driven by the fluid,the characteristics of the fluid mechanics in the long-distance pipeline are analyzed,the requirements of the fluid as the power source of the robot are discussed,and the motion mechanics equations of several typical states of the pipeline robot in the pipeline are established.In view of the condition that the robot needs attitude adjustment when it moves through the butterfly valve obstacle in the pipe,the dynamic equation of its attitude adjustment process is obtained through analysis.This paper discusses the other resistances of the pipeline robot when it moves normally in the pipeline,and analyzes the main influencing factors of the resistances.According to the characteristics of the working environment of the robot,the overall control system scheme meeting the requirements is proposed and the control hardware required is selected and designed.In order to make the pipeline robot adaptive to the change of the inner diameter of the pipeline,an active reducing control strategy based on the preset speed is proposed.In order to realize the robot passing through the butterfly valve in the tube,an active attitude control strategy based on visual perception is proposed.In order to verify the smoothness of the designed robot passing through the pipeline with a certain bending angle,the simplified robot assembly and pipeline model are imported into Adams for simulation analysis,and the passability of the pipeline with 400 mm inner diameter and bending is determined.The fluid structure coupling simulation analysis of the robot's horizontal pipeline motion is carried out in fluent,and the change of flow field characteristics when the fluid in the pipe drives the pipeline robot's motion is obtained,which verifies the movement and mechanical influence of the fluid in the horizontal pipe on the robot and the feasibility of the motion of the pipeline robot driven by the fluid in the pipe.