Research On Walking Principle And Dragging Force Of A Pipeline Detection Robot

In modern industry, pipeline is the important device to transport supplies. And detectionand maintenance for pipelines are of great significance to make sure industry production issteady and safe. Pipeline detection can be divided into inner detection and outer detection. Inthe inner detection of pipelines, performance of pipeline robot plays a key role in the qualityof detection. At the present stage, pipeline robots have not been applied in large scale. Thereason is that there are some problems in the pipeline robots, so they can not reach the matureapplication requirements in industry.Based on these problems, a pipeline robot with new type of walking mechanism isdesigned in this article. It is hoped to make some progress in the performance of draggingforce, structure and movement. And it is also hoped to bring new ideas to the development ofpipeline robots. In the article, I used software of SolidWorks to design and model all the partsof the robot, and assemble the parts into an integrate virtual prototype.In the article, I researched the pipeline robot from the walking principle, and abstract therobot into a specific mechanical mechanism to analyze it from the theory. Movementfeasibility and mechanism of the robot are mainly researched. Influence of characteristics ofthe structure on the robot's movement is also researched.On the dragging force of the pipeline robot, I researched the necessary conditions whenthe robot could generate enough dragging force. After research, specific calculation methodfor the dragging force is obtained. Calculation method of the required torque to drive therobot is analyzed too, and corresponding calculation formula is obtained. In researching it isalso found that for this pipeline robot, walking step length is relevant to the dragging force.At last, I used software of ADAMS(Automatic Dynamic Analysis of Mechanical System)to make simulation experiments with the virtual prototype. In the experiments, the movementof the robot is tested and step length of the robot is measured. And in simulation experiment,the necessary condition for generating the dragging force is verified. The conclusionsobtained from theory are also tested in simulation experiments.