Construction Design and Kinematics Analysis for the Three Legs Type Gas Piping Robot

摘要

For the current gas pipeline robots generally have a small diameter range, weak climbing ability, fewer robots to adopt to small pipe diameter, unstable control system and poor control efficiency. A small pipe diameter adaptive modular synchronous autonomous reducing gas pipeline robot with diameter of 300mm to 400mm is innovatively designed. The robot adopts a symmetrical mechanism that can realize synchronous reducer at both ends, and the tail is provided with universal joint to realize the robot modularity. A three-dimensional model of pipeline robot was established by SolidWorks, and statically analysis was carried out on the driving arm and supporting arm of gas pipeline robot. The results showed that the maximum stress of driving arm and supporting arm were 36.66MPa and 36.61MPa, and the maximum strain was 5.16×10<sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">-4</sup>mm and 5.16×10<sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">-4</sup>mm, all within safe limits. In addition, the dynamics analysis of straight pipe, bend pipe, reduced diameter pipe, climbing ability and traction force of prototype is carried out. The velocity of prototype in the straight pipe varies between 9mm/s, and the displacement varies 0.5mm. The actual traction force of prototype is increased by 107.12N compared with the theoretical value.