Design Of Laying Robot For Optical Cable Outside Pipeline

The robot for laying the outer wall of pipeline is a kind of robot which is applied to the outer wall of pipeline instead of manual operation.The research of this kind of robot can reduce the risk and the cost of manual operation greatly and has an important academic research value and industrial application prospect.Therefore,the research on robot walking outside the tube has become one of the hot fields of industrial robot research.This paper for the domestic and foreign existing outside the pipe robot technology development status and application background of the research analysis,mainly aimed at outside the circular pipe wall continuous automatic four underground cable laid the topic,developed a dedicated fiber-optic robot equipment,to improve the quality of optical cable laying efficiency and laid has a great significance.This paper puts forward a new type of towed the outer wall of pipe laying the design scheme of robot walking,it has a great practical value and theoretical research significance,the design of the outer wall of pipe laying robot driven by wheel as a way to walk,walking the thrust from the lock as a way to hold that robots can adaptive load gravity changes and the pipe diameter changes,external load cable car following,volume will be needed in the process of laying optical cable and optical fiber cable tensioner equipment placed in load cable car.Through the speed difference of the driving wheel,the laying robot can walk in a straight line on the pipe wall.Each walking wheel is driven by an independent motor,which increases the traction force of the robot.It can also realize the robot to walk on the pipe wall at a constant speed and stably,meeting the requirements of laying optical cable.This paper analyzes the theory of the robot for laying the cable outside the pipeline,points out the problems which are easy to appear in the process of laying the cable,and how to work out the solutions to these known problems.According to the requirement of laying the cable outside the circular pipe of different diameters,a general plan of laying robot was made and the design of equipment was developed.The driving mechanism of the robot for laying outside the pipeline is installed on the end of plate with an Angle of 120 degrees between each driving wheel,and the initial tilt Angle of each driving wheel is adjusted according to different pipe diameters.Through the static analysis of the whole robot,the balance equation of the robot's self-locking on the tube wall was established,the driving force of the robot was deduced,and the appropriate driving motor was selected.Through the mechanical analysis of the clamping mechanism,the relationship between the pre-tightening force of the regulating spring and the positive pressure of the clamping wheel in the clamping mechanism is further deduced,which lays a theoretical foundation for the dynamic simulation of the laying robot.In this paper,on the basis of the above theoretical analysis,based on CAD/CAE technology,the application software Pro/Engineer project,starting from the overall plan,the detail of each subsystem is the robot structure design,the implementation of parts of the robot 3d entity parameterized modeling,completed the virtual assembly of parts of the robot,and through the motion simulation to check the interference.The statics analysis of the structure of the key mechanism that affects the walking stability and laying effect of the paving robot was carried out.Finally,a set of special robot equipment was designed to lay four underground cables outside the circular pipe.