Research On Dynamic Characteristics Of Spiral Driven Pipeline Inspection And Cleaning Robot

With the increase of pipeline operation time,a lot of impurities are deposited and adsorbed on the inner wall of the pipeline,which makes it difficult for the pipeline to realize its normal transportation function and poses great hidden dangers to people’s life,life and property safety.In this paper,the pipeline robot is mainly used to clean the pipeline,and the movement process and jet cleaning process of the spiral-driven pipeline inspection cleaning robot are analyzed to get the best movement state and cleaning parameters in the pipeline,and the experiment is carried out to verify and analyze.The main research contents are as follows:Aiming at the problem of pipeline inspection and cleaning,this paper proposes a spiral driven pipeline inspection and cleaning robot,which ensures the stable operation of the device inside the pipeline by means of spiral driving.The combination of mechanical cleaning and water jet cleaning ensures that the impurities in the pipe can be cleaned reliably without causing great losses.The device can collect,store and transport impurities in the pipe by means of swing removal,rolling brush cleaning and negative pressure suction.Air bag isolation positioning device to ensure that the process of pipeline cleaning will not affect the robot driving device;At the same time,air bag expansion is used to realize the isolation and positioning of the device,which can buffer the reaction force of the device in the difficult cleaning process of dirt and provide a stable working environment for the operation of the cleaning collection device.The motion model of spiral driven pipeline inspection and cleaning robot was established.Through the establishment of the force model in the pipe,the driving force and resistance state of the device during operation are studied.The amount of traction depends only on the rotation Angle of the propeller wheel,and the amount of traction is negatively related to the sinusoidal change in the rotation Angle of the propeller wheel.By using the coordinate transformation method to study the motion characteristics of the driving robot in the tube,the motion equation is established,and the motion characteristics of the robot in the straight tube are studied.The velocity equation and the running track equation of the robot in the straight tube are obtained.The model of water jet cleaning in pipe was established,and the water jet cleaning was simulated by numerical simulation to study the changes of target surface striking force and shear force under different influencing factors.The greater the jet pressure,the greater the pressure reaching the target surface,and the greater the shear force of the target surface.Proper increase of jet pressure can increase the cleaning efficiency to a certain extent.The greater the distance of water jet cleaning the target surface,the smaller the jet striking force when the jet reaches the target surface,the weaker the damage ability to dirt and the lower the cleaning efficiency.When the pipeline cleaning operation is carried out with a small distance of the target surface,although the impact force reaching the target surface can be increased,the cleaning area of the target surface will be reduced to some extent and the damage to the wall will be increased.According to the analysis results,the cleaning effect is better when the distance of the target surface is 12-13 times of the diameter of the nozzle outlet,that is,about 25 mm.When the nozzle shoots at the target plane at a certain Angle,the striking force of the target plane reaches the target plane,the jet shear becomes larger,the incidence Angle is too small,the shear force on the wall is small,the cleaning efficiency is low,and the incidence Angle is too large,which will cause excessive jet energy loss.As the Angle of incidence increases,so does the shear.Therefore,when the incidence Angle is 15°,the cleaning effect is better,and the maximum shear force on the target surface is about 0.11 MPa.Reasonable adjustment of target distance,incidence Angle and other parameters of jet cleaning can greatly improve the cleaning effect of jet cleaning.Establish a pipeline robot cleaning device experimental platform to verify the movement status and jet cleaning effect in the pipeline.The actual inspection speed of the robot drive unit can reach 0.075 m/s,and the minimum traction force meeting the design index can reach 39 N.By establishing an indoor cleaning experimental platform and verifying the cleaning ability of the device through the pipeline cleaning operation process,it is obtained that the optimal cleaning state of the robot’s jet in the pipeline is about 25 mm in target distance,and the jet incidence angle is 15°.The spiral driven pipeline inspection and cleaning robot plays a significant role in cleaning,detecting,and maintaining the inside of the pipeline.