Abstract:A snake shaped pipeline grinding robot composed of several modules is designed, in which each module can be quickly disassembled and assembled, and the driving module provides the power for the robot to move forward in the pipeline. The robot can actively adapt to the straight pipe, bent pipe and combined pipe with an inner diameter of 250 mm~450 mm, and can realize various operation functions in the pipe with an emphasis on grinding. A velocity model suitable for the snake shaped pipeline grinding robot to pass through a bent pipe is proposed. Through the mechanical analysis on the robot, a method for calculating the interaction force between different modules is deduced, and the factors affecting the robot rotation in the pipe are obtained. The virtual prototype simulation is carried out with ADAMS software, which verifies the trafficability of the snake shaped pipeline grinding robot, and obtains the optimal matching of the robot for moving inside the pipeline. Finally, an experimental platform is built and a physical prototype of the robot is manufactured to verify the adaptability, trafficability and operation effect of the robot in the pipeline with an inner diameter of 250 mm~450 mm.
[1] 李特,张嘉礼,李斌,等.螺旋驱动式管内机器人越障性能优化设计[J].大连理工大学学报, 2018, 58(4):348-356. Li T, Zhang J L, Li B, et al. Optimization design of obstacle surmounting performance of screw driven in tube robot[J]. Journal of Dalian University of Technology, 2018, 58(4):348-356. [2] Kim H M, Choi Y S, Lee Y G, et al. Novel mechanism for inpipe robot based on a multiaxial differential gear mechanism[J]. IEEE/ASME Transactions on Mechatronics, 2017, 22(1):227-235. [3] Wen C C, Yang C H, Pei Y C. Development of a 3D pipe robot for smart sensing and inspection using 3D printing technology[J]. Smart Science, 2017, 5(3):123-131. [4] Kakogawa A, Nishimura T, Ma S. Designing arm length of a screw drive in-pipe robot for climbing vertically positioned bent pipes[J]. Robotica, 2016, 34(2):306-327. [5] Shukla A, Karki H. Application of robotics in onshore oil and gas industry-A review part I[J]. Robotics and Autonomous Systems, 2016, 75(1):490-507. [6] Liu Q Y, Ren T, Chen Y H. Characteristic analysis of a novel in-pipe driving robot[J]. Mechatronics, 2013, 23(4):419-428. [7] Roh S G, Kim D W, Lee J S, et al. Modularized in-pipe robot capable of selective navigation inside of pipelines[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, USA:IEEE, 2008:22-26. [8] Kwon Y S, Yi B J. Design and motion planning of a two-module collaborative indoor pipeline inspection robot[J]. IEEE Transactions on Robotics, 2012, 28(3):681-696. [9] Kakogawa A, Komurasaki Y, Ma S. Shadow-based operation assistant for a pipeline-inspection robot using a variance value of the image histogram[J]. Journal of Robotics and Mechatronics, 2019, 31(6):772-780. [10] 唐德威,李庆凯,姜生元,等.三轴差速式管道机器人过弯管时的差速特性及拖动力分析[J].机器人, 2010, 32(1):91-96. Tang D W, Li Q K, Jiang S Y, et al. Differential property and traction force of tri-axial differential pipeline robot in elbow[J]. Robot, 2010, 32(1):91-96. [11] Xu Z L, Lu S, Yang J, et al. A wheel-type in-pipe robot for grinding weld beads[J]. Advances in Manufacturing, 2017, 5(2):182-190. [12] 闫宏伟,汪洋,马建强,等.轮式管道机器人过弯动态特性分析[J].西安交通大学学报, 2018, 52(8):87-94. Yan H W, Wang Y, Ma J Q, et al. Analysis of dynamic characteristics of over bending of wheeled pipeline robot in elbow[J]. Journal of Xi'an Jiaotong University, 2018, 52(8):87-94. [13] Kakogawa A, Ma S, Hirose S. An in-pipe robot with underactuated parallelogram crawler modules[C]//IEEE International Conference on Robotics and Automation. Piscataway, USA:IEEE, 2014. DOI:10.1109/ICRA.2014.6907078. [14] Kamata M, Yamazaki S, Tanise Y, et al. Morphological change in peristaltic crawling motion of a narrow pipe inspection robot inspired by earthworm's locomotion[J]. Advanced Robotics, 2018, 32(7):386-397. [15] Ren T, Liu Q Y, Li Y J, et al. Design, analysis and innovation in variable radius active screw in-pipe drive mechanisms[J]. International Journal of Advanced Robotic Systems, 2017, 14(3). DOI:10.1177/1729881417703564. [16] Li P, Tang M, Lyu C, et al. Design and analysis of a novel active screw-drive pipe robot[J]. Advances in Mechanical Engineering, 2018, 10(10). DOI:10.1177/1687814018801384. [17] 蔡业彬.模块化设计方法及其在机械设计中的应用[J].机械设计与制造, 2005(8):154-156. Cai Y B. Modular design method and its application in mechanical design[J]. Mechanical Design and Manufacturing, 2005(8):154-156. [18] Li T, Ma S G, Li B, et al. Axiomatic design method to design a screw drive in-pipe robot passing through varied curved pipes[J]. Science China Technological Sciences, 2016, 59(2):191-202. [19] 李庆凯,唐德威,姜生元,等.管道机器人弯管运动转体原因分析[J].西安交通大学学报, 2011, 45(10):19-23, 29. Li Q K, Tang D W, Jiang S Y, et al. Body-twist of pipeline robot in elbow[J]. Journal of Xi'an Jiaotong University, 2011, 45(10):19-23,29.