Research On Pipe Robot And Its Application

A pipe robot is a mechatronic system, which can walk automatically inside or outside a pipe. It works in various industrial pipes automatically or under the control of an operator with a remote device. It is popularly applied in the engineering pipes used in industries of petroleum, chemistry, nuclear, city construction and so on, for the purpose of examination, failure exploration, cleaning, spraying, jointing, maintaining, etc.In this thesis, based on the in-depth study, analysis & reasoning of the currently existed pipe robot technologies and main problems occurred to air conditioning duct systems, the author presented.Through reading a large quantity of professional books on pipe robot, the author gives a full study of its motion theory, driving model and configuration, and a detailed explanation of the technical issues related to pipe robot research and manufacturing. According to the different problems air conditioning systems faced, three different orientation systems of pipe robot are presented and compared in this thesis.The orientation system of screw driving is emphaticly presented in the efforts to do the cleaning and testing in vertical round pipes used insome air conditioning systems, while flexible-tracked combination system is well applied in large diameter pipes and rectangular pipes of various specifications.In-depth studies of pipe robot control, cleaning and video monitoring systems and its peripheral equipment are presented.Based on the study of the above mentioned key technology of pipe robot, a duct cleaning robot system was created and a lot of testing experiments were carried out. It shows the workability of the system and reached the expected goal.Xu Xiang (Machinery Manufacturing Process and Equipments)Supervised by Zhang Jialiang, Li Beizhi...