Design And Performance Research Of Differential Pipeline Robot

Pipeline transportation is widely used in petroleum,natural gas and other industries because of its advantages of large transportation volume,strong continuity and low energy consumption.In recent years,the safety of pipeline transportation has become increasingly prominent;in order to improve the safety of pipeline transportation,Timely inspection,cleaning and maintenance of the internal space of the pipeline.Therefore,the development of a pipeline robot with a strong pipeline environment adaptability can effectively promote the safety management of pipelines and the development of special robots,and has a certain engineering use value.In this paper,the overall and local analysis and design of the pipeline robot are firstly carried out.Then the parasitic power and the motion interference of the traditional pipeline robot in the cornering operation are analyzed from the theoretical point of view.Then the working principle and the drive of the differential pipeline robot's drive unit are further analyzed.The performance was analyzed and calculated,and the force and movement state of the differential pipe robot under various working conditions were analyzed.Finally,the three-dimensional model of the robot was built with SolidWorks,and the robot prototype was tested with the multi-body dynamics software Adams.The performances of variable diameter,obstacle-tolerant,turning and other performances of pipeline robots under various typical conditions were simulated and compared with the theoretical conclusions,which verified the accuracy and reliability of the robot's operation in the pipe.Research work is mainly divided into the following aspects:(1)According to the structural features of the three-axis differential type pipeline robot driving unit and the working environment and technical requirements for the service requirements of the pipeline robot,the overall scheme of the differential pipeline robot is designed,combined with some existing achievements,Selecting and designing the main parts,components,and mechanisms of the robot.(2)From the point of view of geometry and physics,the drawbacks that traditionally drive conventional pipeline robots to operate under special conditions are introduced.The principle and main technology of the introduction of the three-axis differential drive method are introduced;The force and moment conditions of the unit are analyzed and calculated;the power flow of the differential pipe robot is analyzed between power transmission components at various levels through the power flow graph;the pipe robot is in the curve through theoretical calculations.Transfer efficiency at runtime.(3)Analyze and study the driving performance of the three-axis differential pipe robot under various working conditions;point out the main factors that affect the robot's obstacle-resistance when the pipeline robot runs in the pipeline with obstructions,and obtain the The robot can cross the expression of the maximum obstacle height;analyzes and calculates the load capacity of the pipeline robot under common operating conditions;and through space geometry analysis,it obtains the limit of the physical size of the pipeline robot when it passes through the elbow pipe.The formula focuses on the speed ratio of the robot driving wheel in different pipeline environments and different posture angles.(4)Using SolidWorks to parametrically model the involved pipeline robots and import them into Adams to simulate the virtual prototype dynamics.Analyze the force and the driving wheel movement of the pipeline robots in case of obstacles crossing and the obstacle height and driving.The relationship between the wheel radius and the theoretical results is compared with the theoretical results;the simulation scope of the pipe diameter that the robot can adapt to when it can guarantee sufficient load capacity is simulated;the pipe robot is driven under different posture angles.The difference of the differential effect and the contact force,the force and the motion state of the front half of the differentials I,II,and III,respectively,were analyzed and simulated.The results of the simulation verified the reliability of the theoretical conclusions,which is a three-axis differential.The foundation for the further research of the pipeline robot is laid.