Research On Motion Mechanism And Detection Device Of Inner Supporting Pipeline Detection Robot

Pipeline transportation is mainly used in petroleum,chemical,metallurgy and other industries,which can continuously,massively and safely transport liquid,powder or gas materials.With the development of China’s industrial modernization,pipeline transportation has been more widely used,which also puts forward higher requirements for the pipeline itself.Due to the influence of pipeline service conditions and external environmental factors,corrosion,wear,deformation,leakage and other problems will inevitably occur.Therefore,it is extremely critical to regularly inspect and maintain the pipeline.In this paper,aiming at the complex industrial pipeline environment such as aluminum oxide dissolution sleeve,an adaptive internal support pipeline inspection robot is designed.The robot has the motion characteristics of adaptive diameter change,obstacle crossing,turning,etc.,and can be used for complex industrial pipeline defect detection.The main research contents are as follows:(1)The main structure of pipeline robot is designed by modularization.Based on the idea of modular design,the robot is divided into four modules: front detection unit,drive crawling unit,adaptive reducer unit and body fixing unit.The front detection unit uses a camera and a laser transmitter to realize the real-time operation detection task in the pipe;The drive crawling unit adopts three groups of 120 ° equal diameter distribution caterpillar structure design,and is driven by independent full drive motor,which is simple in structure and convenient in operation;The adaptive reducing unit adopts the active and passive reducing mode,with the range of 275mm-355 mm,to increase the adaptability of the robot to different pipe diameters.Each module cooperates with each other and does not interfere with each other to complete the required pipeline inspection tasks.(2)The motion model between the pipes of the robot is established,and the dynamic characteristics of the pipe robot are analyzed.Firstly,the mechanical model of the robot’s motion in pipe is established,and the influence of the resistance of the robot’s motion in pipe,the closing force and the spring preload on the robot’s motion is analyzed.The motion equation between the robot’s pipes is obtained to describe and solve the motion state between the robot’s pipes.Secondly,the dynamic model of the obstacle crossing and bending characteristics of the robot in the pipe is established,and the obstacle crossing state and bending state of the robot are analyzed and calculated using the coordinate transformation method,which provides a theoretical basis for verifying the rationality of the robot structure design.(3)The three-dimensional model is established and the virtual prototype simulation experiment is carried out.The 3D model of the robot is built by Solid Works,and the virtual prototype simulation experiment of the robot is carried out by ADAMS motion simulation software.The correctness of the theoretical analysis of the robot is verified through the simulation experiment analysis.(4)Research on robot detection device.According to the common pipeline inspection technology,combined with the structural design characteristics of the robot’s motion mechanism,a detection method suitable for the internally supported pipeline robot-laser imaging method is proposed,and a cylindrical detection device is designed.The device has the characteristics of wide imaging range and high detection accuracy.