Design And Research On Wall-Press Pipeline Robot

As an effective means of transporting materials,pipelines are widely used in the fields of industry,nuclear facilities,petroleum,natural gas and military equipment.In order to prolong the service life of pipelines and prevent accidents such as clogging and leakage,pipelines must be regularly inspected and cleaned.However,due to environmental restrictions imposed by the pipelines,there are difficulties in construction when humans perform pipeline maintenance work such as large quantities,slow construction schedules and other issues.In order to solve the problems,pipeline robots have emerged.In this paper,a large-diameter nuclear field electric pipe robot capable of turning T-bends is designed for an important water systems pipelines in nuclear power plants.The moving part structure of the pipeline exploration robot is discussed,also briefly describes the movement method through the T-tube,and the method of correcting the deflection of the front movement of the drive module;Meanwhile,the hardware modules included in the lower computer are designed incorporated with the operating requirements.The ARM Cortex-M4 as the core STM32F429 master chip control system is used to receive the command of the host computer and implement the control of the robot.The hardware part of the entire pipeline robot has the visual and environmental detection module.Servos motor is used to achieve camera rotation,in order to ensure that the camera can capture the full range of video data within the pipeline.Finally,testing and debugging of the entire system are conducted.In the software design,the flow chart of each module is first determined,and then the controller is programmed with keil software to control each hardware module part,and at the same time the communication between the upper and lower computers are obtained.