Study On Structure Design And Elbow Passability Of Pipeline Inner Wall Cleaning Robot

As a major country in infrastructure construction,China’s application of pipeline technology is no longer limited to land transportation,and marine transportation often uses pipelines of various materials.The ship sails in the water all year round,and various marine foulings accumulate on the inner walls of their pipelines,which seriously affect the ship’s pipeline system and water safety.At present,there are relatively few researches on pipeline cleaning robots for small and medium pipeline diameters,and there are fewer robots for cleaning the inner walls of ship pipelines.In order to solve the above problems,a pipeline inner wall cleaning robot is designed in this paper.The main work of the thesis is as follows:The structure of the cleaning robot for the inner wall of the pipeline is design.In the light of the design requirements and actual working conditions,the function and constraints of pipeline inner wall cleaning robot is clarified,and the structure design scheme of pipeline robot is planned.The Solidworks software is applied to establish the three-dimensional structure of the robot,and its structural features,functions and working process are designed reasonably,which provides a modeling model for the research of the pipeline robot passability.Two multi-parameters"I"shape models of wheeled pipeline robots are proposed.Based on the traditional rectangular model,multi-parameters"I"shape models of two wheeled robots at 90~obends are established.The geometric relationship of the key parameters in the model is studied,the boundary conditions with multi-parameters constraints are established,and the shape parameters are preliminarily determined,which provides constraints for the determination of the parameters in the pipeline inner wall cleaning robot passability simulation test.The structure design of pipeline inner wall cleaning robot.Within the reasonable constraints of the multi-parameters"I"-shaped model,the key structural parameters are selected.The Solidworks software is applied to establish the three-dimensional structure of the robot,and its structural features,functions and working process are designed,so as to provide a prototype reference model for the force analysis of pipeline inner wall cleaning robot.Force analysis,parameter selection and statics simulation analysis of key components of pipeline inner wall cleaning robot.The movement and force state of pipeline inner wall cleaning robot are analyzed,the force analysis and calculation of the robot are carried out,the robot model of the key components is selected,and the key parameters of the robot are calculated and determined.ANSYS Workbench is used to do static simulation for the main stressed components,the simulation results show that the rigidity and strength of the key components meet the performance requirements.It provides data support for the parameter determination of pipeline inner wall cleaning robot prototype model.Elbow pass verification of two wheeled pipeline robots and pipeline inner wall cleaning robot In the ADAMS software,the kinematics simulation of the wheeled pipeline robot model is carried out.By comparing different length of the bottom of rollers and the body,methods are proposed to determine the passability of the robot through the presence or absence of the indirect contact force of the contact component and the displacement comparison under the same conditions.The simulation results show the correctness of the judgment method,and at the same time verify the rationality of the theoretical research on the multi-parameters"I"shape model of the two wheeled pipeline robots.It provides a reference model and judgment method for studying the passability of pipeline inner wall cleaning robot.Through kinematics simulation and production of physical prototypes,the rationality of the structure design of pipeline inner wall cleaning robot is verified,and cleaning effect can meet the needs of the enterprise.