Design And Research Of Pipeline Cleaning Robot For Ship Exhaust Boiler

The design of ship exhaust boilers requires the ability to clean and maintain the flue pipes,and ensure that the flue pipes are unblocked during operation.When the main boiler burns inferior fuel oil or burns insufficiently,ash accumulation will occur in the smoke pipe of the tail gas boiler,which seriously affects the working efficiency and service life of the boiler.The existing methods of smoke pipe cleaning have low efficiency,poor precision and low cost performance.In this paper,the design and research of the smoke pipe cleaning robot are carried out in view of the general situation of vertical pipe and variable diameter pipe,including key issues such as the structure design,motion principle,motion control and dynamic analysis of the robot.The main contents are as follows:1.Combining the actual situation of the ship exhaust boiler flue pipe and the functional requirements of the cleaning robot,designed the crawling and wheel two kinds of schemes,completed the overall structure of the cleaning robot design,carry out three-dimensional modeling of each part and introduce in detail the movement principle of the two design schemes,which provides a physical model for the subsequent mechanical characteristics research.2.Establish the space motion equation of the robot in the smoke pipe,analyze the force of the creeping scheme in the horizontal and vertical pipes,study its ability to cross obstacles and reduce diameter,and establish the dynamic model of the creeping robot;the opposite wheel scheme Carrying out the obstacle-crossing ability analysis,researching the relationship between the robot’s obstacle-crossing ability and the spring stiffness coefficient and initial tension,and establishing the robot dynamics and kinematics model.3.Establish a virtual prototype model in the ADAMS software,carry out simulation research on the straight-pipe passability,obstacle-crossing ability and diameter-changing process of the creeping and wheeled robots respectively,and obtain the robot speed and displacement curves,and the change of spring force during obstacle crossing and diameter reduction.The test results verify the feasibility of the two design schemes of the smoke pipe cleaning robot.4.Starting from specific functional requirements,complete the hardware and software design of the wheeled tobacco pipe robot control system,and realize the control of the robot driving mechanism and cleaning device;process and assemble the wheeled tobacco pipe robot prototype to build a simulated smoke pipe Test environment to test the robot’s running speed,maximum traction and ability to pass through the variable diameter pipeline under different pipeline conditions.The test results show that the prototype can walk and hover normally in horizontal and vertical pipelines,and has the ability to climb pipelines.The maximum traction of the prototype is 20.4N,and it can smoothly pass through the 100 mm to 96 mm variable diameter pipeline while achieving cleaning.The actual effect of dust on the inner wall of the pipe.