Mechanism Design And Motion Analysis Of T-pipe Robot

Pipeline is widely used in nuclear facilities,oil and gas,electric power and other fields.At the same time,pipeline safety plays a very important role in the normal operation of production.With the increasing complexity of the pipeline layout and application environment,the structure and function of the pipeline robot are also put forward higher requirements.In this paper,aiming at the complex nuclear power pipeline system in the practical application,there are acute angle bend,right angle bend,obtuse angle bend and T-bend in the pipeline system.The spatial layout of the pipeline environment not only includes horizontal pipeline but also many vertical pipelines.The most difficult part is to design the structure of the pipeline robot which can pass through the right angle transition T-shaped pipeline.Therefore,the purpose of this paper is to design a multi section robot,which can realize the above pipeline traversal.Based on the requirements of improving the traffic ability and steering performance of the pipeline robot in the pipe,this paper adopts the modular design concept to design the structure of the pipeline robot.The structure design of the pipeline robot mainly includes three parts: the front drive module,the rear drive module and the connection unit.The front and rear drive modules are the same,and the adaptive pipe diameter adjustment mechanism of the pipeline robot is modified In addition,the adaptability and radial contraction of the pipeline robot in the variable diameter pipeline are improved,and the connection mode of the pipeline robot is improved,the connection mode has the initiative and passivity,so that it can pass through the Tshaped pipeline.Finally,the 3D model of the pipeline robot is established through the3 D mapping software.The physical model of the pipeline robot is established,and the related dynamics and kinematics research are carried out,mainly including the dynamics analysis of the self-adaptive pipe diameter adjustment mechanism,the establishment of the relevant mathematical model,the analysis of the obstacle surmounting ability of the pipeline robot,the factors affecting the obstacle surmounting ability,the calculation of the force on the cable in different pipes,and the calculation of the pipeline robot in L-shaped pipes,The mathematical expressions of the contact points in the transition and rotation stages of each driving wheel are established in the L-Bend and T-bend respectively.The mathematical relationship between the output angular velocity of the driving wheel and the movement velocity of the main body of the pipeline robot is analyzed.The mathematical analysis of the rotation speed of the driving wheel is carried out.According to the analysis results,the T-bend and L-Bend of the pipeline robot are respectively set up for path planning.Based on the virtual prototype technology,the simulation experiments of pipeline robot in T-shaped and L-shaped pipeline are carried out,and the speed and track curve of driving wheel of pipeline robot are obtained.The simulation results show that the pipeline robot designed in this paper meets the relevant design requirements,and can realize the stable operation of various complex pipelines,especially T-shaped pipelines.Finally,the key parts of the pipeline robot are analyzed by finite element method to optimize the relevant structure of the robot.