Structure Design And Research Of Small Support Wheeled Pipe Detection Robot

After a long period of service,industrial pipelines may crack or even break and leak,causing serious safety accidents,economic losses and environmental pollution,so regular maintenance of pipelines is necessary.Pipeline robot can go deep into the pipeline for detection,which is easy to operate,improves the efficiency and accuracy of overhaul work and helps maintenance personnel free from the heavy physical work of disassembling and assembling pipelines.Traditional industrial pipe robots have the problems of large volume.difficult climbing,low working efficiency and short working distance.In this paper,a small supporting wheel-type pipe robot is designed,which is suitable for working in pipes with small pipe diameter,long distance and multiple elbows.It can crawl in pipes with 150mm inner diameter and 450mm curvature radius of axis.At the same time,it has good ability of overcoming obstacles and climbing as well as long working distance and its work efficiency is high.In this paper,the design index is determined according to the actual use requirements of the pipe robot,the overall design scheme of the pipe robot is put forward,the overall scheme of supporting wheel structure,motor drive and battery power supply is determined,the motor model,battery model and support structure are determined,the pipe robot parts are designed,and the three-dimensional model of the pipe robot is established for simulation analysis and optimization.The kinematic characteristics of pipeline robot are studied,the kinematic characteristics of pipeline robot support structure during elbow pipe are analyzed,the structural dimension constraints and kinematic model of pipeline robot during elbow pipe are established,and the design dimensions of pipeline robot are determined.The mechanical characteristics of the support mechanism and the whole structure of the pipeline robot are analyzed,and the relationship between the obstacle-crossing ability of the pipeline robot and the driving force of the pipeline robot and the design parameters of the support mechanism is obtained.The rationality of the design is verified by kinematic simulation of the pipe robot under the conditions of straight pipe,elbow pipe,climbing,obstacle crossing and traction.Mechanical analysis is carried out on key parts of the pipe robot to verify its mechanical properties.Through topological analysis,structural redundant materials are removed,key dimension parameters are optimized by response surface method,and mechanical properties of the optimized structure are analyzed.The maximum stress and strain do not exceed allowable values,which meets the design requirements and achieves the goal of lightweight design.The prototype of pipeline robot is made and tested,which verifies the pipeline robot’s straight-pipe passing ability,bend passing ability,climbing ability,obstacle-crossing ability,traction ability and endurance ability,and proves that the pipeline robot has good working performance and can meet the proposed design requirements.