Research On The Driving Characteristics And Simulation Analysis Of The Moving Carrier Of The Pipeline Robot

With the development of the country and the improvement of industrial automation,pipeline transportation has become more and more important in people’s life and plays an important role in people’s life.Therefore,the deployment of pipeline robot instead of manual inspection and maintenance plays an important role.Based on the typical prototype of the helical pipe robot,model of the motion carrier of the helical pipe robot is established.At the same time,the rolling process of the wheel body in operation is placed on research.The motion carrier of the pipeline robot runs stably by the friction between the wheel body and the inner wall of the pipeline.The friction force in operation is discussed,including the rolling friction and the sliding friction.It is established that the force of friction to which the traveling wheels are submitted is correlated with the geometric shape and materials of the running pulleys.Carrying out research on the principle of helical driving of the motion carrier,and establishing the driving mechanics model of the motion carrier,the driving force expression is obtained.The factors that determine the size of the driving force are the friction between the driving wheel and the tube wall,the positive pressure between each driving wheel and the tube wall,and the structure of the walking wheels;to establish the mechanical model of the motion carrier support module,Create motion carrier bracing module mechanical model,and the relationship between the pose angle and the positive pressure of the support wheel and the change equation of the positive pressure of the support module with the attitude angle are obtained,at the same time,the rotation theory of the support module was studied to determine the effect of the choice of pose corner on its revolution.The motion course of the campaign carried in the straight and curved tube was analyzed using the coordinate transformation method,and its spiral running trajectory matrix in the pipe is obtained.Using two-dimensional rectangular simulation analysis method,the motion carrier of pipeline robot was divided into0°～90° processes through the bending process,and its motion state at any cornering moment was studied.ADAMS was used to establish the virtual prototype model.The influence of friction coefficient,preload,radius and width of the wheel body on driving force was analyzed through dynamics simulation,and the validity of the actuation mechanics model was verified.The nonlinear connection between the tilt angle and the driving force is investigated.The nonlinear connection between tilt angle and driving forces was investigated,and it was determined that the functional modules carried by the moving carrier must be less than 19 N in vertical crawling.To validate the mathematical model of the spiral track,the position curve of the center of mass of the walking wheel of the motion carrier is simulated.Based on the torque balance theory,the influence of different pose angles on the support module is established,and the optimal pose angle for restraining the in-tube rotation of the support part of the moving carrier is studied.Finally,it investigates the effects of the radius,breadth of the wheel body,pretension of the drive wheel,and angle of deflection on the power of drive of the moving carrier,derive the sensitivity of each design parameter and perform an evaluation of each design parameter to derive the optimal variable value of the objective function.At the same time,in order to improve the performance of the engine,the peripheral structure of the wheel body has been optimized and topology optimization is performed to achieve lightweight design goals.Using force sensor to conduct the experimental test of motion carrier verifies the correctness of simulation.The investigation of the drive characteristics of this pipeline robot can serve as a foundation for engineering research projects in this area.