Research on Bend-through Behavior of Pipeline Robot Based on ADAMS

摘要

Pipeline robots are widely used in pipeline inspection and plugging maintenance processes. They improve the self-adaptability in pipelines by designing the pipeline running mechanism and propose core elements that limit the passing performance of the spiral walking mechanism in the pipe and have the key to pipeline inspection and maintenance. Therefore, using the ADAMS software from the dynamic point of view, the simulation of the bendability in the walking mechanism is carried out, and further analysis is made on how the helix angle and the diameter of the driving wheel affect the driving force and travel speed of the traveling mechanism, and according to the simulation results. It is concluded that the helix angle and the diameter of the driving wheel have distinctly different effects on the driving force and the traveling speed of the traveling mechanism; the driving force of the tube traveling mechanism decreases with the increase of the helix angle of the driving wheel, along with the driving wheel as the diameter increases, the traveling speed of the traveling mechanism increases with the increase of the helix angle. With the increase of the diameter of the driving wheel, it increases first and then decreases. Through the analysis, the best parameters of the spiral inclination and diameter of the driving wheel of the pipeline running gear are obtained.