Design And Research Of A Pipeline Robot With Controllable Driving Wheel Steering

As an economical and effective medium transportation mode,pipeline is widely used in agriculture,industry and other fields.Due to its own defects and the influence of external environment such as pressure and corrosion in the work,it will inevitably been damaged and other problems,such as leakage.In order to extend the service life of the pipeline and ensure the safety of pipeline transportation,it is necessary to carry out regular maintenance of the pipeline.However,most of the existing pipeline maintenance robots are designed for planar pipeline(the pipe axis is in a plane),while,3D vertical pipe(the pipe axis is not in a plane)has a complex internal connected structure,which proposes higher passability and environmental adaptability for the pipeline maintenance robot,which is challenging in the field of pipeline robot.Combined with the technical requirements of grid GIS tank,this paper designs and develops a pipeline robot with good 3D pipeline passability and environmental adaptability.The main research contents are as follows:(1)based on the requirements of pipeline detection and the environment of 3D pipeline,an overall design scheme and design objective of a pipeline robot with controllable steering of drive wheel was proposed.(2)complete the design of pipe robot diameter reducer,drive wheel with steering mechanism,drive wheel mechanism and driven wheel mechanism.By analyzing the characteristics of several common taping mechanisms,the crank slider and parallel four-bar mechanism are selected as the taping method of the robot.Through the mechanical analysis of the diameter reducer,the proper driving motor and the preloaded spring are selected.The finite element analysis is carried out on the key parts of the robot,and the strength is checked to verify the rationality of the structural design of the parts.(3)analyze the dimensional constraints and passage modes of the pipeline robot at l-shaped and t-shaped curves,and determine the trajectory equation and velocity of the robot when it passes through different bends;The method of robot passing through3 D vertical pipe is put forward,which is mainly to adjust the steering through the driving wheel,so that the robot can rotate around the pipe axis at a certain Angle,and keep the two driving wheels of the robot in contact with the pipe wall all the time,providing a stable driving force to make the robot turn.(4)create a virtual simulation environment for pipeline robot,and conductsimulation of pipe bend passability,posture adjustment and obstacle avoidance.(5)make a robot prototype,build a test platform,and conduct tests on pipeline passability,posture adjustment and obstacle avoidance,and maximum traction.Through the analysis of the test data,the performance of the robot is tested and the improvement scheme is proposed.