Reserch on Small-Diameter Industrial Pipeline Robot and Its Driving Performance
|School||Harbin Institute of Technology|
|Course||Mechanical Design and Theory|
|Keywords||Small diameter Pipeline robot Driving characteristics Structural design Simulation Analysis|
Over the years, the small diameter pipe detection, anti-corrosion and maintenance operations of the projects in the pipeline has been limited by pipeline robot driven technological backwardness and difficult to automate its main reason is that people do not break the traditional pipeline robot single drive section three supporting Drive the driving wheel diameter of the small diameter pipe robot positioning mind-set limit, resulting in a narrow tube within the space is small, which seriously affect the performance of this pipeline robot drive limits the theoretical research and practical applications of this robot. Robot Technology and System State Key Laboratory the own subjects Fund project support for the specific environment of the small-diameter pipes, designed a new type of small diameter pipeline project robot, theoretical analysis of its driving performance, and the simulation. Several drive suitable for small diameter pipe robot, obtained by comparing the advantages and disadvantages and feasibility of the program, the program in the form of a new wheel drive, and with this drive in the form of pipe robot is designed. The design of the diameter of the pipeline robot adaptability, the more impaired performance straight pipe and elbow drag power, loss of power when the elbow by a theoretical analysis, to establish a pipeline robot straight pipe drag, straight tube more impaired elbow dragging mechanics analysis model, derived formula of the drag force and preload, body posture analysis method gives an elbow movement. According to the results of theoretical analysis, the critical size of the pipeline robot optimized design. The structural design of the completion of a new type of wheeled robots small diameter pipeline project, using the finite element software to analyze the stiffness and strength check of key parts. Using three-dimensional modeling software, to establish a new type of wheeled robot small diameter pipeline project three-dimensional model. Small diameter pipe robot simulation model and several simple simulation pipeline drag forces on the the pipeline robot's output, the more impaired performance and simulation analysis Bend attitude change, and verify the theoretical derivation and establish the correctness of the corresponding mathematical models, as well as to verify the feasibility of the application of the proposed drive program on small diameter pipeline project robot, laid the foundation for the further study of this pipe robot technology.