Design And Application Of Leaping Pipeline Robot

The sewer pipe plays an important role in sewage discharge and flood discharge,in order to extend the life of the pipeline,the pipeline robot is required to check the sewer pipes regularly.However,there are elbows and open caissons in the sewer pipes,pipeline robots have poor bend passability,and they can not cross the open caisson.In order to solve the problem,a leaping pipeline robot is designed,The main contents are as follows:Firstly,according to the technical requirements,the overall design of the pipeline robot is determined,the design of the front,body and tail of the pipeline robot are completed.Secondly,For the force of the pipeline robot during the process of crossing the open caisson,the corresponding mechanical models are established;The deformation of the cross-well mechanism are combined with the deformation of the body frame,and the height error and horizontal error of the sewer pipe are considered,the deformation and error are integrated to determine the height of crossing the open caisson;The D’Alembert principle is used to establish the mechanical model of the pipeline robot crossing the open cassion,and the plasticity and friction of the sediment in the sewer are considered,and the moment when the wheel rolls during the process of crossing the open cassion is derived.Then,for the deformation of the body frame,ISIGHT is used to carry out multi-objective optimization.Latin Hypercube Design is used to design the variablity,and the neural network model is used for approximate modeling,then the NSGA-II algorithm is used to optimize the design goals,these are for reducing the impact of the body frame deformation on the height of the pipeline robot crossing the open cassion.Finally,The hardware system of the pipeline robot is designed.The control chip,motor,driver,camera are selected,and the hardware circuits is designed to realize the corresponding functions of the pipeline robot.The turning experiment and spanning experiment are carried out,the turning ability and spanning ability of the pipeline robot are verified.The leaping pipeline robots provides a solution for crossing the open cassion,it also provides a reference on the special pipeline robots.