Study On The Design Of The In-pipe Robot With Water-jet And Its Kinematic Characteristics

With the rapid development of science and technology,production safety and efficiency are becoming more and more important.Pipelines widely used in industry and daily life,they play the role of transmitting energy and other necessary substances.However,the routine maintenance of pipelines is very difficult,because not only the environmental conditions are harsh,but also many troubles and economic losses are probably caused,Therefore,more and more robots gradually replace the traditional manual maintenance task.This paper presents a new type of robot with water-jet,it overcomes the shortcomings of the previous research that robot can’t operate in the fluid pipeline actively,and can detect the internal condition of the pipeline without stopping the operation of the pipeline.Firstly,the overall structure design of the pipeline robot is completed according to the requirements.After comparing the advantages and disadvantages of the common driving forms,the driving mode of the pipeline robot is determined.The overall parameterized design was completed by establishing the pass-ability model of the robot.A new type of joint module was put forward to make up for the deficiency of conventional hooke joint,and the parameter optimization,working range calculation and strength analysis of the special-shaped hinge are carried out.The feasibility of detecting pipe parameters by detecting unit is studied.The relationship between the hydrodynamic force and the running speed of the pipeline robot is investigated.Based on the spinor theory,the kinematics model of the pipeline robot is established,and the velocity Jacobian matrix is derived in detail.The trajectory of the robot was simulated in MATLAB by using the parameters under actual working conditions,and the correctness of the established model was verified.The thrust variation of water-jet thruster in pipeline environment is analyzed in detail,and the thrust loss ratio under different operating environment is obtained.Using CFD simulation software for robots in straight and bend pipe,in the process of calculating the pipeline robot operation by fluid force,joint simulation using ADAMS and FLUENT way to study the motion characteristics of the pipeline robot,it is concluded that the kinematics of the robot run in fluid environment parameters.The fuzzy PID controller is designed according to the actual operation control requirements of the robot,and the effect of the controller was verified by MATLAB simulation.Complete the overall design of the control system,and use Guide to create the human-computer interaction interface of the control system;The environment of pipeline and the open environment are set up for experimental research.The total resistance of the robot was measured in the fluid environment,and the thruster thrust test is carried out in different environments to verify the feasibility of the practical application of the in-pipe robot with water-jet.