Research On Pipe Robot With Pipe Inner Wall Panoramic Detection And Pipe Diameter Adaptability

Pipeline,as a means of material transportation,has been widely used in the field of oil and gas industry.In order to be able to operate efficiently,the design of pipeline robot with strong environmental adaptability,wide pipe diameter adaptation range,and stable detection and comprehensive detection is our research direction.This paper focuses on the pipe robot with the ability of pipe wall panoramic detection and pipe diameter adaptability combined with the industrial environment and steel pipe testing environment,according to the adaptability and comprehensive testing of research and development function requirements,adopt modular design concept for pipeline robot design,including each part of the mechanism and control system.On the basis of mechanical design,analysis of each part of the mechanism motor and motor model selection.In addition,design control system,analysis of the control principle,focus on the design of the control system hardware,including the main controller,sensors,motor and its drivers and power supply system.Secondly,the communication mechanism of the upper and lower computer and each module is introduced in detail.On this basis,the software research of application layer is carried out,including the software control of sensor module and driver module.The requirements of universalization and modularization,software and hardware interface of submodule are the basis of stable and reliable operation of robot in pipeline.On the basis of hardware and software platform,the robot experiments are carried out,including the function test of each sub-module and the robot as a whole,to verify the feasibility and stability of the robot.The test results show that the performance of each sub-module of the robot is good,the communication signal transmission is stable,and the overall function reaches the standard.Finally,a summary of the research and development is made,and suggestions for later research and development are put forward in view of the problems encountered in the research and development process,and the research and development work of the threesupport wheel pipeline robot is prospected.