Design And Simulation Of Trapezoidal Variable Diameter Pipeline Robot

In recent years,with the development of China's economy and the progress of science and technology,pipeline transportation has become one of the main modes of transportation of oil,natural gas and other materials.As a means of transporting materials,pipelines are usually laid in places where manual operation is difficult,such as buried in the ground or in the air.Therefore,the research of pipeline robot has practical significance,using pipeline robot instead of manual to enter the pipeline for regular inspection and repair.However,most of the existing pipeline robots have weak adaptability to pipe diameter,poor obstacle surmounting ability,and poor curve trafficability.In view of the above problems,this paper develops a pipe robot which can adapt to the change of pipe diameter,has a certain obstacle surmounting ability and can pass through the large curvature radius elbow.The main contents are as follows:(1)Combined with the function and design requirements of pipeline robot,and fully considering the complex situation of pipeline environment,the overall structure design scheme of trapezoidal variable diameter pipeline robot is proposed,and the design of robot walking unit,variable diameter unit and support unit is completed.(2)In this paper,the motion of the pipeline robot is analyzed,the attitude angle is introduced,and the mechanical model of traction force is established to analyze the force of the robot when walking in three kinds of pipelines: horizontal,inclined and vertical;Through the analysis of the robot's curve passing performance,the trajectory of the robot is obtained;The force analysis of the robot is carried out,and the factors affecting the obstacle performance are obtained,and the expression of the maximum obstacle height is derived;Through the analysis of a group of supporting bars of the reducing mechanism,the mechanical characteristics of the reducing mechanism are obtained.(3)The 3D solid model of pipeline robot is imported into ADAMS software to construct virtual prototype model and set up simulation environment;The walking simulation of the robot in horizontal,variable diameter and curved pipeline environment is carried out;Through the simulation analysis of the pipeline robot in different attitude angles,the best obstacle surmounting attitude is obtained.At the same time,the influence of different walking speed on the obstacle surmounting performance is studied.(4)Build trapezoidal variable diameter pipeline robot test platform,print and purchase parts and assemble physical prototype,build pipeline experimental environment;Walking tests were carried out in horizontal,variable diameter and curved pipeline environments;Verify the rationality of the pipeline robot mechanism,the stability of walking and the performance of curve passing.