Design And Implementation Of Snake Robot For Pipeline Inspection

With the rapid development of economy and the increasing demand for energy,pipeline transportation has been widely used in oil industry,natural gas industry,water supply and other fields.Because the pipeline is usually buried in the ground,it will inevitably produce the impact of external environment such as corrosion or heavy pressure in long-term use.The forced pipeline will leak,which will not only cause great economic losses,but also have an important impact on the environment.In order to ensure the safety and reliability of pipeline transportation,it is necessary to conduct regular inspection and maintenance of the pipeline.In view of the above situation,this paper designs a multi joint snake robot,which is convenient for maintenance personnel to detect the pipeline,mainly including the following contents:According to the internal structure of the pipeline and the limitations of the environment,the technical specifications and performance requirements of the snake robot designed in this paper are determined.In order to make the snake robot better applied in the field of pipeline inspection,firstly,the structure of the snake robot is designed,the mechanical structure of the snake robot is designed by Solid Works software,and its motion is analyzed.After the corresponding motion is determined,the snake robot is programmed.In order to ensure the smooth operation of the snake robot in the pipeline and keep the state of low energy consumption to the maximum extent,the shape of the snake robot is designed,and the flow field is analyzed.According to the analysis results,the shape design is optimized.The snake robot is equipped with detection equipment.In this paper,the equipment is camera equipment.MATLAB software is used for program editing.The snake robot is trial manufactured,and its gait experiment and underwater test are carried out.Verify whether the performance requirements meet the design requirements.It can lay a certain foundation for the application of snake robot in practical production and life.