Structure Design of Spiral Driven Adaptive Pipeline Robot Under Complex Conditions

摘要

In order to solve the problem of motion interference when the pipe robot pass through the elbow, the robot can fit the different pipe diameter when the robot pass through the geometric irregular pipe, we design a screw-driven adaptive pipe robot under complex working conditions. The robot is mainly composed of a driving mechanism, a holding mechanism and an elastic mechanism. The design of the main structural transmission components are carried out by the technical requirements and the analysis of the movement state of the robot pass through the elbow. Simultaneously, we established three-dimensional solid modeling of the pipeline robot to verify that the mechanism can meet the speed ratios. The results show that the pipeline robot can pass the elbow without interference, which has certain diameter adaptability and obstacle clearance ability.