Design and Experimental Research of Spiral Driven Variable Diameter Pipeline Robot
In order to solve the problems of poor passability,complex structure and single adaptive range of pipeline cleaning robot,a wheeled pneumatic pipe cleaning robot with adaptive variable diameter based on screw driving principle was designed.The robot was composed of front spiral walking mechanism,cleaning mechanism,intermediate power conveying mechanism and rear supporting walking mechanism,which could adapt to pipeline with diameter from 360 mm to 440 mm.The overall structure and working principle of the ro-bot were briefly described.Through the establishment of a simplified model of the robot,the passability of the robot in the curved pipe was analyzed.The equilibrium state of the robot in the vertical pipe was statically analyzed,and the selection parameters of the support-ing cylinder and pneumatic motor were obtained.The motion state of the robot was simulated by ADAMS software,and the displacement trajectory and contact force of the robot in the pipe were analyzed.The simulation results show that the robot can pass through the curved pipe smoothly.Finally,through the trial production of the prototype and the walking experiment,the feasibility and rationality of the robot structure design are verified.
screw drivepipeline robotvariable diameter wheelpneumatic control
NETL
NSTL
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