Design And Control System Research Of Gas Pipeline Robot

Due to the material defects of the gas pipeline itself and the defects of the pipe wall under long-term service,it is easy to induce safety accidents and need to be detected in real time.Although among the existing detection methods,the robot inspection of gas pipelines overcomes the problems of difficult operation,low efficiency and high cost in traditional detection methods.However,the gas pipeline robots in the current market generally have problems such as small diameter range,weak climbing ability,fewer robots adapted to small pipe diameter,unstable control system and low control efficiency.In view of the above problems,an adaptive modular synchronous autonomous variable diameter gas pipeline robot suitable forΦ300mm～Φ400mm small pipe diameter is innovatively designed,and the specific design content and conclusion are as follows:（1）Design the structure of the gas pipeline robot.The whole machine adopts the support wheel structure,in order to meet the work needs,the symmetrical structure at both ends is adopted,the same model of motor is selected to make the two ends synchronously variable diameter,the universal joint is designed to realize the modularization of the pipeline robot,and finally the three-dimensional model of the pipeline robot is established by using Solid Works.（2）Static analysis of gas pipeline robots.Using finite element analysis software,the robot support arm and driving arm were mainly analyzed statically,and the maximum stresses were 36.66MPa and 36.61MPa,and the maximum strain was5.16×10^-4 and 5.16×10^-4,respectively,compared with the material properties of the aluminum alloy fuselage,the maximum stress and strain values were within the safe range,indicating that the structure has good mechanical properties and meets the strength requirements.（3）Kinetic analysis of gas pipeline robots.Using the virtual prototype technology,the pipeline passability,climbing ability and traction force of the prototype were analyzed,and the change curves of the center of mass,center of mass and traction of each wheel of the prototype in the straight pipe,pipe bending,reducer process and vertical pipeline movement of the prototype were obtained.The analysis curve shows that in the straight pipe movement of the prototype,the radial displacement change of the prototype is 0.6mm,which is negligible,and the speed change is between 9mm/s;The operation in the bending is relatively stable and can pass smoothly;In the reducer movement,due to the adaptation of the fuselage to the pipe diameter,the real center of mass shifts,so that the maximum displacement offset of the radial direction of the measuring point is 15.35mm,which is a normal phenomenon;the climbing ability of the prototype is analyzed,and the prototype runs stably under vertical pipeline conditions;at the same time,the actual traction force of the measured prototype increases by107.12N compared with the theoretical value.The above results show that the prototype can smoothly pass through straight pipes,elbows,variable diameter pipes and vertical pipelines,and has the characteristics of large diameter range,strong climbing ability and large traction,and has good operation stability and feasibility.（4）Design the gas pipeline robot control hardware system and process the physical object.According to the operation requirements of pipeline robots,the control scheme is analyzed to determine the control system function.A well-designed control system based on STM32F103VET6 chip to achieve control system integration;Based on Solid Works PCB,the circuit principle was drawn,and a set of dedicated control system hardware was determined;The hardware control system program design is completed based on Keil5 software.Finally,the PCB board is physically printed and welded to build a complete control system hardware platform.The gas pipeline robot designed this time is suitable for 300mm～Φ400mm small diameter gas pipeline operation,and the fuselage can also be equipped with corresponding sensors and other operating tools according to different operation needs,which provides a new type of equipment for gas pipeline operation and ensures the safety of pipeline transportation.