Research On Marine Pipeline Grinding Robot

With the wide use of piping structure in ship industry,its position is increasingly prominent.Because this kind of pipeline is in bad sea condition for long time,even after special derusting treatment,there will inevitably be rust,crack,foreign body blocking,and other problems.However,the maintenance of pipelines is very inconvenient.The main reasons are as follows: Firstly,the pipelines cannot be disassembled and maintained normally,or the disassembly cost is too high;Secondly,restricted by the diameter and length of the pipeline,maintenance personnel cannot normally enter the pipeline;Thirdly,the traditional way of maintenance costs a lot of time and money;Fourthly,the pipeline is in a dangerous area.Therefore,it is of great practical significance to research a kind of pipeline robot that can replace the artificial one.For the marine ballast piping system,this paper designs a pipeline grinding robot that can move in the pipeline with gentle gradient or bending,and can perform grinding operation in the pipeline.The main research contents are as follows:(1)Determine the overall scheme of pipeline grinding robot,including walking mode,grinding device,tire material and driving mode.In addition,3d modeling and 2d assembly drawing are performed for the pipeline grinding robot.(2)Conduct dynamic analysis on the movement of pipeline robot in the pipeline,determine the relationship between driving force and moving speed,and select appropriate driving motor and reducer;The finite element analysis of the strut bar component is carried out to check its stress less than the allowable stress and determine the rationality of the structure design of the pipeline grinding robot.(3)The coordinate system was established to set up the trajectory equation of the pipeline grinding robot in the process of moving on the angle curve,and ADAMS simulation was used to verify the passability of the pipeline grinding robot on the angle curve.Simulation results show that the pipeline robot designed in this paper can move normally in the pipeline with diameter of 500 mm and curvatureradius of 550 mm.(4)According to the whole working process of pipeline grinding robot,PLC is adopted to program its control system,including drawing hardware wiring diagram,writing program ladder diagram and program simulation...