System Design And Motion Performancs Analysis Of Inspection Robot For Underground Pipelines

The rapid development of modern cities has led to the rapid development of urban underground pipelines,which have become an important basis for urban operation and citizen life.However,the complex environment underground and the medium inside the pipe will have adverse effects on the pipeline,and if the pipeline fails,it will cause huge economic losses and even threaten people’s lives and property safety.Therefore,to ensure the safe operation of urban underground pipeline has become an important part of urban management.It is an important means of urban pipeline maintenance to use robots instead of workers to enter small and complex underground pipelines and to complete the detection and maintenance of underground pipelines.The research of underground pipeline detection robot has obvious social benefits and great scientific value,and has been paid more and more attention by all countries in the world.This paper elaborates the development status of pipeline robot,analyzes the development trend and technical characteristics of existing pipeline detection robots at home and abroad,and puts forward a new underground pipeline detection robot for the application of miniaturized,multi-tube diameter,in view of the large volume,small drag power and poor pipeline adaptability.Based on the analysis of the existing pipeline robot technical parameters,the paper puts forward new underground pipe detection robot design indicators,and then according to these indicators,the robot system design and motion performance research work is carried out.Compared with most robots on the market,the robot has the characteristics of small size and large drag power.In order to achieve the above objectives,the paper describes in detail the design method of the robot chassis,to ensure that the robot has enough output torque while taking up small space.Lifting frame and cloud platform are also important components of robots,which are important components to realize multi-use and high-definition detection of robots,and the design of these two components is also introduced in this paper,and the design of the robot is modeled in three-dimensional,and the whole machine model of the robot crawler is obtained.In order to improve the robot’s survivability in the pipeline,the paper analyzes the working characteristics of the robot.In view of the special environment of underground pipeline,the contact model of robot and pipeline is analyzed,such as robot’s barrier-crossing ability,turning ability and anti-tiping ability.Through these analyses,the design of the robot system can be confirmed to ensure that the robot can walk smoothly in the pipeline.The paper also studies the motion and dynamics of the robot,establishes the local coordinates with the robot’s center of mass as the origin and the global coordinates with the pipe as the origin,obtains the relationship between the robot motor torque and the robot position,and lays a foundation for the robot’s motion control.Then,the paper uses ADAMS software to simulate the motion of the robot and confirms the correctness of the motion model.Finally,the paper completes the production of the experimental sample and tests it.The test results show that the basic performance index of the robot and the motion performance index basically meet the design requirements,verify the correctness of the aforementioned design theory,realize the miniaturization design of the robot,and achieve the desired results.