The Design And Research Of A Crawling In-Pipe Robot

As the pipeline is largely applied in people's daily life and in industrial production,the working of pipeline repairing and maintenance is rising.It's not enough to solve a lot of problems only relying on manpower.The presence of the pipeline robot can greatly alleviate the problem,it not only can enter the narrow,dangerous and complex environment that human difficult to reach on,it also can finish the routine work such as inspection and maintenance.Pipeline robots liberate a large number of labor,it also has great economic benefits and application prospects.A crawling in-pipe robot was developed aim at the gas pipeline in this paper,and taking the following research working:(1)A crawling in-pipe robot is designed by comparing the literature data which contained the features of pipeline robot design,combined with the characteristics of the gas pipeline.Using modular design method,rely on SolidWorks software for robot mechanical structure design in detail.(2)Research on the problem of how the robot passing through the bent pipe,to establish the mathematical model of the bend pipe.Analyzing the geometric constraint and motion constraint of the robot in the bent pipe.Geometric constraints analyze the limit geometry of a robot to prevent the robot from "stucking".The motion constraint studies the motion path of the robot in the transition and rotation stages of the bent pipe so as to avoid the phenomenon of "internal friction".(3)The ADAMS software is used to simulate the robot's clamping process and the movement of the telescopic mechanism in the bent pipe,the results shows that the robot has good clamping ability and bend passing capacity.