Research On Key Technologies For Modular Configuration Of Pipeline Robots

Pipeline robots are mechanical devices that carry one or more specific work tools and are controlled by professionals either wired or wirelessly to work inside pipelines.Traditional pipeline robots are designed separately according to different working environments.Once designed successfully,their structures are relatively fixed and difficult to replace,and their functions are relatively single,unable to quickly meet user needs.Therefore,this study combines modularization technology with pipeline robot design,and through the module division,module coding,interface standardization design,and module configuration of pipeline robots,a module configuration system oriented towards pipeline robots has been developed using the Python environment connected with mysqlclient and My SQL.It not only realizes the orderly management of enterprise modules but also enables the resource sharing of the module configuration front-end and back-end systems,greatly shortening the design cycle,improving work efficiency,and quickly responding to customer needs.Moreover,by using the system platform,customers can directly select and participate in the design work of module matching.It has a very positive significance for promoting the large-scale customization production of pipeline robots and improving the overall technology level of the robotics industry.The main studies are as follows:1)The method of integrating axiomatic design and fuzzy tree diagram is used for module division,which can ensure the independence of functions and greatly reduce the computational workload.Firstly,the axiomatic method is applied to start from user requirements and analyze structural characteristics,construct a functional structure mapping matrix and judge it.If the mapping matrix is a triangular matrix or a diagonal matrix,the module division is completed.If the mapping matrix is of other types,it indicates that the axiomatic method is invalid and the fuzzy tree diagram division method needs to be used again.By analyzing weights,constructing function relevance matrix and structure relevance matrix,integrating the relationship matrix,drawing the maximum fuzzy tree,and performing threshold truncation,the module division result can be obtained.Finally,based on the module division,common modules and functional modules are defined,and module expansion is used to enrich module types and achieve module interchangeability.2)Module coding and interface standardization design.Pure numbers are used to encode the subordinate information and feature information of the modules for easy storage and management.At the same time,in order to meet the connection and interchangeability between modules,the interface is standardized through connection type analysis,interface standardization,interface modeling and interface coding,providing a guarantee for subsequent module configuration.3)Research on module configuration method.By determining user requirements,product technical indicators and module classification,the correlation matrix between user requirements and technical indicators and the correlation matrix between technical indicators and modules are constructed.Then,a mathematical model is constructed with the maximum correlation between user requirements and technical indicators as the target,and solved using particle swarm algorithm to obtain the pipeline robot module configuration list.Finally,the rationality of the configuration result is verified by using the standard modeling criteria for module interfaces.4)Development of a module configuration system for pipeline robots.The system platform consists of a back-end management system and a front-end module configuration system.The back-end management system connects to the My SQL database through mysqlclient to realize the addition,deletion,modification,and inquiry of form information,and establishes a connection with the front-end configuration system to achieve information linkage.The frontend configuration system connects to Solid Works by writing relevant code and changing the registry,and displays the configuration result according to the module configuration list.