Design And Research Of Variable Motion Pipeline Robot

With the increase of the service life of pipeline,the pipeline will occur serious failure.The main failure forms include corrosion,leak,perforation and so on.These problems will cause the leakage of media and safety accidents.Therefore,the pipes need to be checked regularly.The new technology of pipeline robot can effectively overcome the problems of difficult operation,low efficiency and high cost in traditional inspection methods.At present,pipeline robot has some shortcomings such as small diameter adaptability range,weak climbing ability,single movement mode and low operating efficiency.In view of the above problems,this paper will design a variable motion pipeline robot.The main research contents of this paper are as follows:Firstly,according to the working environment,the design requirements of this paper are summarized.The robot’s moving,driving and supporting modes are studied,and the overall scheme of the robot is designed after combining innovation.The supporting mechanism,driving mechanism and functional control module of the robot are designed.The key parts of the force analysis,calculation and check were completed.The motor and electromagnetic clutch model was selected.The robot model was built by using Soild Works software.The innovation of the robot lies in that it has a variety of motion modes,and it can improve operating efficiency by changing motion mode,which has a strong applicability.Secondly,the bending characteristics,motion and drive characteristics of the robot are studied.By establishing the dimension constraint model and motion model of the robot,the dimension constraint condition and the speed ratio of each driving wheel were obtained.Based on the kinematic coordinate change principle,the trajectory equations and motion rules of different motion modes are obtained in this paper.And the ideal trajectory curve is calculated by MATLAB software.The relationship between the attitude angle and force of the driving wheel is obtained by analyzing the force of the driving wheel.At the same time,the factors affecting the driving performance of the robot are analyzed,the results show that the preloading force is directly proportional to the traction force of the robot,and the driving wheel deflection angle is inversely proportional to the traction force.By analyzing the working characteristics of the robot,the feasibility and rationality of the design scheme of robot are explained theoretically.Then,based on ADAMS software,the simulation model was established.Kinematics and dynamics simulation were carried out for pipeline passability,running speed and traction ability of the robot under different movement modes.The simulation trajectory,motion law,traction force and velocity variation law of the robot are consistent with the theoretical analysis results.Through the analysis of the simulation results,the rationality and feasibility of the robot structure design are verified.In the end,through experiments,the pipeline passability,adaptability,traction force and running speed of the robot are tested.The results shows that the design of the robot meets the expected design requirements,which provides a certain basis for the control,simulation and application of related robot fields.