Dynamic Characteristics Of Two-mass Impact Pipeline Robot Driven By Noncircular Gears

Pipeline network is an important infrastructure in natural gas,petrochemical and nuclear industries.Pipeline robot is an essential equipment to realize intelligent management of pipeline network.Existing external driven pipeline robots are difficult to adapt to the transport of corrosion,flammable or small diameter of the special pipeline environment,while the power system is completely sealed,compact structure of the inertial pipeline robot is more advantageous,research with high mobility of the inertial pipeline robot is of great significance for the maintenance of extreme pipe network.Furthermore,two kinds mass inertial pipeline robots driven by non-circular gears are proposed,and the mechanism principle and walking mechanism of the two robots are illustrated.A new type of variable speed non-circular gear is designed for its internal asymmetric inertial excitation system,and the boundary condition of convex shape of noncircular gear is discussed.In order to study the movement law of the robot,two degree of freedom dynamics models of two kinds of pipeline robots in dry pipeline environment were established.The influence of different order,coefficient and phase Angle of non-circular gear on the movement performance of pipeline robot is analyzed.For quantitative analysis of the dynamic behavior of the two types of robots,explains the key design parameters affect the performance of mobile rule,found the following conclusions: for inertial pipeline robot,the average speed as the motor speed,connecting the spring stiffness of the first increases,then decreases and then increases,with the increase of non-circular gear eccentricity first increases then decreases;For the impact pipeline robot,it increases with the increase of non-circular gear eccentricity and motor speed in each interval,and decreases with the increase of collision clearance.By comparison,it is concluded that the dual-body impact pipeline robot has better mobility.Finally,the design and manufacture the double plastid impact pipe robot prototype test,test the impact at the average speed of pipeline robot under different rotational speed,and compared with theoretical values,the change trend of the whole,the result shows that the theoretical analysis was consistent with the experiment,and thus proves that the pipeline robot using asymmetric inertia force and impact of the feasibility of improving the performance of mobile,At the same time,the correctness of the dynamic model of the two-mass pipeline robot is verified.