Design And Research On Key Components Of Inspection Robot For Natural Gas Station

In a dangerous place with complex pipeline technology and a wide variety of equipment,safety inspection is very important.Inspection robots can replace manual inspection,thus greatly reducing safety risks and improving the accuracy and efficiency of inspection.By summarizing and analyzing the structural design characteristics and application scenarios of inspection robots at home and abroad,it is found that the existing inspection robots cannot be directly applied to the global environment of natural gas stations.In view of this phenomenon,this thesis designs a natural gas station inspection robot that can replace manual inspection,which can adapt to a variety of environments in the station.The overall scheme analysis,key component design,ground adhesion characteristics and obstacle surmounting performance of the inspection robot are studied.The main research contents are as follows:1.The overall scheme design of natural gas station inspection robot.Firstly,combined with the environmental characteristics of the natural gas station,the design requirements of the inspection robot for the natural gas station are determined.The inspection robot for the natural gas station should have the characteristics of compact structure,strong load capacity,good explosion-proof performance,and certain obstacle crossing ability.According to the requirements and environmental characteristics,the performance parameters of the inspection robot for the natural gas station and the selection of the tracked mobile chassis scheme are determined.The design and research of the overall scheme are completed from the analysis of each system module and the design of the transmission scheme.2.The key components of the inspection robot for natural gas station are designed,including the key structural design of the deformable crawler walking mechanism,the structural design of the explosionproof body,the design of the drive system and the multi-degree-of-freedom modular manipulator.On this basis,Solid Works is used to draw the overall three-dimensional structure diagram of the inspection robot for natural gas station.The coordination design of the main swing arm and the auxiliary deformation mechanism enables the inspection robot to achieve the obstacle crossing ability and stability performance under high load.3.Considering the terrain environment in the natural gas station,the terrain trafficability of the natural gas station inspection robot in the gravel ground and snow environment is studied based on the ground mechanics.The parallel characteristics of the natural gas station pipeline require that the natural gas station inspection robot should be able to complete the small radius steering and in situ steering motion.Therefore,the kinematics and dynamics analysis of the steering motion in the hard ground environment is carried out,and the ground adhesion characteristics of the natural gas station inspection robot are further analyzed and verified by Recur Dyn simulation software.4.Considering the general obstacles such as slopes,steps and stairs in the natural gas station,the obstacle-crossing performance of the inspection robot in the natural gas station is studied.Based on the centroid position of the inspection robot,the stability of the inspection robot in climbing,climbing 350 mm high steps and climbing standard stairs is quantitatively analyzed.The theoretical research of obstaclecrossing is verified by Adams simulation analysis.Finally,the construction and test of the physical prototype are completed.The test results confirm that the inspection robot in the natural gas station has good terrain adaptability.It has the ability to climb 30° slope,350 mm high step,150 mm high and 300 mm wide standard stairs,which meets the design requirements.