| With the development of society,the pipeline is more and more widely used in the field of transportation,and the in-pipe inspection robot is more and more important in the application of pipeline maintenance and repair.Through the research and reading of domestic and foreign literature,it is found that the current mainstream in-pipe inspection robot can be divided into two driving modes,one is motor driven,the other is fluid driven.In order to overcome the shortcomings of these two driving modes,a compound driving mode is proposed.Today’s pipeline environment is more complex,so the robot is designed in multiple units to improve the flexibility of the robot.Based on the above assumption,a new structure of the compound driving chain in-pipe robot is proposed,which provides a new direction for the in-pipe inspection robot.In this paper,the overall design of the compound driving chain in-pipe robot is completed.The mathematical model of the active supporting mechanism of the cam is established,and the contour of the cam is optimized.This paper analyzes the resident performance of the robot in the pipeline,explores the relationship between the running speed of the robot in the pipeline and the leakage gap under the condition of fluid driving,and determines the reasonable range of the leakage gap of the robot.Based on the computational kinematics and Newton Euler equation,the general kinematics and dynamics model of the chained in pipe robot is established.Through the relevant data,the real-time state of each unit of the in pipe robot can be obtained,and the constraint reaction between each unit can be calculated,so that the force between each unit in the driving process can be obtained.The simulation analysis of the different working conditions of the robot in the pipeline verifies the feasibility of the robot staying,and obtains the number of driving units and the installation arrangement position when the robot is in a better running state.This paper analyzes the influence of the installation position of the driving unit on the running state of the robot when the robot is driven by the motor.Finally,the simulation analyzes the running state of the robot during the acceleration and deceleration of the compound drive,and obtains the rationality of the robot when the compound drive increases and the better compound drive deceleration method.The program of robot running control system is compiled by MATLAB,and the wireless control of robot is realized by Bluetooth and the communication between slave computer.The experiment platform is built and the experiment is carried out.The driving performance experiment of the robot is carried out under different working conditions,which provides some guidance for the practical application of the compound driving chain in tube robot. |
