The Research Of Pipeline Robot Passing Through Pipe

Robot in pipe is a kind of intelligent equipment which work in a special environment. Along with the widely use of industrial pipeline, a growing number of pipe need to detect and maintain. Because the pipeline is in a special environment, its space is narrow and dark inside and there are large amounts of unstructured pipeline, so the traditional artificial cleaning maintenance is unrealistic, pipeline robot in this application is of great necessity. After decades of development, the pipeline robot technology has made a certain progress, but from the current development of the pipeline robots, there is still a long way to go until the application of pipeline robot. Pipeline robot developed mostly in the aspect of theory, the mainly trafficability of pipeline robot is limited in the straight tube, while intellectualized degree is not that much, for example, elbow pipe, variable diameter pipe and T tube. The thesis is mainly focus on the trafficability of pipeline robot. The main content is as follows:(1) On the basis of collecting and mastering a large amount of documents and references on pipe robot, considering the environment of pipeline and the demands of inspection, through comprehensive comparison and analysis,the related new locomotion mechanism of pipeline robot is proposed. Finally,based on the PRO/E software, the parametric modeling of the robot are established.(2) On the basis of the kinetics and kinematics, including its in-pipe moving resistant, attitude change, radial adjusting, capability over obstacle. For variable diameter structure, first set up the kinematics and dynamics equation, velocity and acceleration of each joint is obtained and reaction, and then its simulation model is established by computer simulation software MATLAB/SIMULINK, the simulation analysis was done.(3) The geometric description of the elbow pipe and T pipe, and establish the mathematical model the of the elbow pipe and T tube geometry model; Robot is deduced by elbow tube, T tube to meet movement condition, draw a robot through the elbow pipe and variable diameter pipe, and T pipe, to meet the relevant movement condition; According to the robot motion mechanism with wall motion interference problem, the walking mechanism is improved, and to establish the travel mechanism and the kinematics and dynamics equations, and are simulated.(4)The ADAMS is used to carry out the kinematics and dynamics simulations of the robots in the straight pipe, different-diameter pipe, elbow pipe, and draw out the displacement, velocity, acceleration and torque curve, The simulation results show that the robot can smoothly through the three types of pipes.