Structural Design And Motion Analysis Of A Variable Diameter Pipeline Robot

The use of pipelines for material transportation has the advantages of large delivery volume,simple structure,safety and reliability.Typical labor-intensive work places such as polishing and grinding workshops and machine workshops will produce a large amount of metal dust during the production process.These powders will be deposited during the process of removal through the ventilation and exhaust pipes,and need to be cleaned regularly.The research object of this article is a pipeline robot driven by a swinging cylinder and adaptable to different pipe diameters,which is used to carry out pipe cleaning with a dust cleaning device.The main research work is as follows:(1)Determine the design plan of the variable-diameter pipeline robot.Summarizing the advantages and disadvantages of different tube design schemes,the corresponding design parameters are determined according to the working environment of the robot and the site investigation in this article,and the design scheme of the variable-diameter pipeline robot driven by the swing cylinder is proposed.(2)Complete the structural design of the variable-diameter pipeline robot.The structural design of the crawler walking mechanism,the variable diameter mechanism and the top support mechanism,establish a three-dimensional prototype model and draw detailed design drawings.According to the actual load of the robot,ANSYS was used to analyze the stress and strain of the robot’s frame and modal analysis.(3)Establish the theoretical modeling of the pipeline robot.Derive the mathematical equations of the swing cylinder and valve-controlled swing cylinder drive system;determine the relationship between the period and duty cycle of the PWM control signal and the mechanical limit of the swing cylinder and the movement speed of the robot through simulation;derive the robot’s kinematic equations and determine the robot The relationship between the left and right track speeds and the attitude of the robot;the dynamic equations of the robot are derived,and the dynamic equations show that the entire robot system is a nonlinear system.(4)The motion analysis of the pipeline robot and the corresponding control strategy are formulated.The velocity of the pipeline robot passing through the arc bend tube is analyzed,and the differential model of the left and right tracks of the robot in the transition and rotation stages is constructed;for the attitude control of the robot in the straight pipe and the track differential speed control in the bent pipe The control strategy of pipeline robot based on fuzzy control method is proposed.(5)Complete the simulation analysis and prototype test of the pipeline robot.In Adams,the drag force,climbing ability and movement state of the pipe robot were verified by simulation;the joint simulation was performed by Adams and Simulink to verify the effectiveness of the attitude control strategy;the prototype production and related tests were completed o test the drag force,climbing ability,speed control and attitude adjustment control of the robot.