Wheeled Pipeline Robot For In-situ Detection Of Loess Quality Information

In recent years,with the implementation of the national strategic plan,a large number of loess major projects have been implemented,resulting in a series of loess geological disasters,such as fill cracking,roadbed damage,etc.,which pose a great threat to people's life and property safety.One of the major reasons why such disasters are difficult to predict and prevent is the lack of in-situ detection means of loess geological information.Therefore,this paper developed a loess geological information in-situ detection robot,which was used to detect the deep geological information in the hole,and provided an experimental research platform for revealing the strength change law,deterioration process and mutual feedback disaster mechanism of complex loess slope under the action of water-soil-human multiple factors.Firstly,the overall structural scheme of the robot was designed.The robot support system and driving system were designed according to the special properties of the loess hole.Based on mechanical analysis and calculation,standard parts such as the central support motor,drive motor and support spring were selected.At the same time,the structural scheme design of the non-standard connector was completed based on the lightweight principle.The three-dimensional model of the prototype was established by Creo,and the performance parameters of the robot were proposed.Next,the mechanical properties of the support system were analyzed and its structure was optimized.The static equilibrium model of the active support system of the robot was established by Matlab,and the kinematics and dynamics model of the pipeline robot was established by Adams.The relationship between the displacement,velocity,acceleration and the variable diameter velocity of the slider nut was analyzed,and the control scheme of increasing the response velocity of the variable diameter system and reducing the inertial impact force was proposed.The parameters of the robot support system were optimized based on the Adams optimization design module,and the optimized support performance was improved by 80% compared with the initial one.Then,a combination of experiments and simulations was used to study the robot adhesion performance and structural strength of key components.The quantitative relationship between the strain of the support arm and the contact pressure was determined experimentally,and then the driving performance of the wheeled pipeline robot was evaluated based on the experimental data at various loess water content rates.Based on Ansys,the structural strength of key components of the robot under extreme working conditions was analyzed to ensure the safety of the robot walking in the hole.The influence of the support arm keyway structure size on its detection sensitivity was analyzed by the finite element method,so that a reasonable support arm structure optimization scheme was obtained.Finally,the operational performance of the wheeled pipeline robot was studied.A loess experimental platform was built for driving and detection experiments,and the performance parameters of the robot were analyzed through the experimental results,and further optimization schemes were proposed.