Structure Design and Characteristic Analysis of Compound-Driven Unit for Pipeline Robot

摘要

In this paper, according to the design technical requirements, the completion of the structural scheme design of compound-driven in-pipe robot, the establishment of the cam active support diameter reducing mechanism mathematical model, obtain the relationship curve between its parameters, and completed the optimization of the cam contour. The resident performance of the robot in the pipeline is analyzed, and the feasibility of the robot's active resident in the pipeline is verified. This paper explores the relationship between the running speed of the robot in the pipeline and the leakage clearance under the condition of the fluid driven, and through the analysis and calculation of the different fluid velocity in the pipe, the reasonable range of the leakage clearance of the robot can be determined, for this range the robot can run smoothly. It has important theoretical value and engineering practical significance for the design and practical application of compound-driven pipeline robot.