| In various engineering projects and people’s daily life,we can find a variety of different kinds of pipelines,such as oil’s transmission pipelines,gas pipelines,sewage pipelines,drainage pipelines,heating pipelines and so on.those pipelines have different diameter,shape,location,there are also many pipes buried underground.Most pipelines need to be inspected and cleaned regularly to ensure they can be used normally.With the rapid development of industry and the continuous improvement of people’s quality of life,in the industrial sector and municipal management,the task of maintaining and cleaning of pipelines has become a common and important work.There are many difficulties in using manual cleaning methods to clean the industrial pipelines and urban underground pipelines.For example,workers can enter large-diameter pipeline to work,for this condition,there are problems that workers must to face,such as high labor intensity,poor working environment,and poor ventilation.Some pipelines even have toxic and harmful gases or dirt,which poses a major hidden danger to workers’ health;Humen cannot enter small and medium-sized pipelines,for this condition,pipeline inspection and cleaning also have many problems such as observation,movement and dirt disposal.Special mechanical devices need to be used to replace people to complete all of the necessary work.The research comes from a school-enterprise cooperation project,and it has designed a crawler-type pipeline cleaning robot with relatively compact structure,high efficiency and easy serviceability to replace the manual complete the pipeline inspection and cleaning work,and improve the efficiency of pipeline’s inspecting 、cleaning and maintaining.Based on the overall structure of the designed pipeline cleaning robot,this paper analyzed it’s passability of pipeline,movement and stress characteristics under various pipeline directions such as straight travel,turning and lifting,and studies the dynamic and static mechanical properties of the key stressed parts under various extreme working conditions,and carried out optimized design of the structure based on the bearing capacity and lightweight goal.The main analysis and research contents of this article are as follows:(1)Based on the study of the internal conditions of industrial pipelines and municipal pipelines,the working conditions of the machine,according to the working principle and structure of the designed pipeline cleaning robot,the core modules such as the robot’s variable diameter device,driving device,cleaning device,etc.are analyzed and used the software of Solid Works to establish a three-dimensional model of the robot;(2)Research the passability and motion characteristics of the pipeline cleaning robot in various conditions in the pipeline,including straight pipes,curved pipes and vertical pipes.On this basis,the model is simulated in the software of MSC Adams to determine robot kinematic data,and determine the mechanical characteristics of the main stressed parts;(3)Carry out static analysis of the key stressed parts of the pipeline cleaning robot under extreme condition,analyze and obtain the maximum deformation and maximum stress position of the key stressed parts,and use the software of Workbench to verify whether the stiffness and strength characteristics of the robot can meet the requirements;(4)The structure topology optimization of the robot variable diameter device is optimized to improve its spatial structure and optimize the distribution of materials,so that the optimized parts can reduce the weight by 18.75%,to a certain extent,achieve the lightweight goal.Finally,a modal analysis is performed on the optimized structure to verify the reliability of the topology optimized results. |
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