定径管道布线机器人主体结构设计含开题报告及文献综述、任务书
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定径管道布线机器人主体结构设计含开题报告及文献综述、任务书,管道,布线,机器人,主体,结构设计,开题,报告,文献,综述,任务书
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Abstract A kind of tracked pipeline robot with three-axisdriving structures and radially adjustable characteristic isdesigned. The structure and the working principle of robot areintroduced, the mechanical model of adjustable mechanism andits obstacle states are established, the mechanical properties ofadjustable mechanism are analyzed, the relationship betweentraveling-capability and obstacle-climbing capability of robotand the driving force of robot is given, the influence factors oftractionforceandobstacleheightareanalyzed.Theexperimental results of prototype show that the pipeline robotdesigned in this paper has a good adaptability to the pipelineenvironment.I. INTRODUCTIONWhether the drainage and the exhaust of urban life, or oil,gas and other industrial fields of material transport, pipelinesare widely used as an effective means of transport. In order tomake the long-term safe operation of pipeline, the pipelinerobotsequippedwithvarioussensorsandoperatingmechanical devices to detect , cleaning, welding and a seriesof pipeline operations by people1-3. As a research hotspot athome andabroad, onlyfrom the driving modesto division, thepipeline robot has developed the wheeled, tracked, legged,creeping, snake-like and other types4-7. However, thedifferenttypesofpipelinerobotshavecorrespondinglimitations for the different pipeline environments, so there isa higher requirement for the adaptability of pipeline robot inthe pipeline environment.Due to the problems of processing technology andmaterial, there are some conditions such as the irregular shapeofpipelinesectionandtheinconsistentofphysicalcharacteristics of inner wall, which are caused by the weldingand other human causes8-9. In addition, the depressions orbulges formed by corrosion, rust, material accumulation andother reasons during the pipeline using, will produce a certainimpact on pipeline robot when it travels in the pipeline10.Therefore, the traveling-capability of pipeline robot, theadaptabilityofdifferentpipelinediametersandtheobstacle-climbing capability are the focus of study, it isindispensable to improve the adaptability of pipeline robot inharsh working environment of pipeline.Based on the large contact area of tracked and the pipelinewallhasthestabilitycharacteristics,fromthetraveling-capability of pipeline robot and its adaptability tothe pipeline environment, a kind of three-axis tracked pipelinerobot with radially adjustable is designed, and the mechanical*Research supported by the National Natural Science Foundation ofChina (Grant No.51279185).Shan Meng is with the School of Engineering, Ocean University of China,Qingdao,China. (Corresponding author,e-mail: ).Lei Zhang iswith the School of Engineering, Ocean University of China,Qingdao, China. (e-mail:zhanglei1107).properties of adjustable mechanism, the traveling-capabilityof pipeline robot and the obstacle-climbing capability areanalyzed in detail.II. THESTRUCTURE OFPIPELINEROBOTThe overall structure of robot is shown in Fig. 1, it mainlyconsists of tracked driving mechanism, the adjustablemechanism and the detachable additional power module.Three-axis driving machines form 120 spatial symmetricdistribution, its driving force is provided by three motorsseparately, the motors drive the driving wheels through abevel gear and a gear set, to drive the rotate of tracked . Bycontrolling the direction of rotation and speed of three motors,the robot can moves forward, backward and steering. Theadjustable mechanism drives the lead screw through the stepmotor, to drive the parallel connecting rods which isconnected with the screw nut to adjust the size of three-axissupporting angle, to control the scaling of three-axis. So whenthe pipeline robot is walking and working in the pipelinewithin the scope of design, not only it can change the size ofrobots outer diameter by controlling, but also increase thepositive pressure between the tracked and the inner wall ofpipeline, to improve the motion characteristics of robot indifferent posture. The additional power module providespower source for the robot, which satisfies the robots need ofcableless operation inpipeline. Inthe case ofshorteroperationtime, can also remove the additional power module, use theportable lithium battery to reduce the body weight.Figure 1.The structure of robot.III. THEMECHANICALPROPERTIES OFADJUSTABLEMECHANISMA.Adjustable MechanismAdjustable mechanism adopts the way of screw nut andparallelconnectingrodstoconnectwiththedrivingmechanism to meet the needs of adapt to different pipelinesdiameter.Sothat when thepipelinerobotwalks inthe pipeline,the tracked of adjustable mechanism can be attached closelyto the pipeline wall to generate the sufficient adhesion, andAnalysis of Traveling-capability and Obstacle-climbing Capabilityfor RadiallyAdjustable Tracked Pipeline Robot*Lei Zhang and Shan Meng Proceedings of the 2016 IEEEInternational Conference on Robotics and Biomimetics Qingdao, China, December 3-7, 2016978-1-5090-4364-4/16/$31.00 2016 IEEE1748driving the pipelinerobot tomove forwardorbackwardstably.Its basic principle is shown as Fig. 2.When the screw nut pipeline robot crossing obstacle, thepipeline wall is required to have proper positive pressure tothe driving mechanism. Therefor, the motor can adjust thescrew nut in real time, so it requires a high accuracy of motor.Based on the characteristics of accurate angular displacementand non-accumulative error of stepper motor, the motorselects the stepper motor which connect with the lead screwby coupling. By using photoelectric encoder to measure theturns number and the rotations angle of stepper motor, cancalculate the screw nut within the scope of process in the AOaccurately. The component AD is driven by the connectingrod BC fixed on the screw nut, to change the correspondingangle size of and . Due to the characteristics of parallelconnecting rods, the front and back components have thesame action, also make the spatial symmetric distribution ofthree-axis can be expanded or shrank simultaneously, so thatthe diameter of pipeline can be calculated currently. At thesame time, the pressure sensor on the screw nut can collect thepressure value of tracked with pipeline to feedback, accordingto the difference between the positive pressure and the setvalue, the rotating direction of stepper motor is controlled toform a closed-loop control, and ensure there is a properpressure between the tracked of pipeline robot and thepipeline wall. Not only avoid the problems of impede themovement of tracked, the motor locked-rotor and the trackedabrasion caused by excessive pressure, but also solve theproblem of insufficient traction caused by week pressure oreven the tracked out of pipeline wall, to provide a stable andreliable driving force for the robot.Figure 2.Mechanical analysis of adjustable mechanism.B. Mechanical Properties of Adjustable MechanismDue to the symmetry of adjustable mechanism of robot,only need to analyze one of driving mechanisms. Set thecenter of screw nut to O point, the coordinate system Oxy isestablished as Fig. 2, the x-axis is the central axis of pipelinerobot, the y-axis is through the center of component O and inthe symmetry plane of axis . The parameters in Fig. 2 are setas shown in TABLE 1.TABLE I.PARAMETERSSETTINGTABLE INFIG. 2ParametersThe Meanings of ParametersNPositive pressure generated by pipeline wall to thetracked of driving mechanismFThe force of screw nut on the component BC、The angle between componentsL1、L2、L3、L4The lenght of member AD, BC, AC and lead screwAO respectivelyT0Output torque on the shaft of stepper motorTEffective torque on the shaft of lead screwh1、h2、h3Vertical distanceIf the entire tracked driving mechanism is seen as overallof quality evenly distributed, Fig. 2 shows the geometricrelationship:sinsinsincoscos23211234LLhhLyLLLxEBDifferential equation (1):coscostansin13LyLxEBAccording to the principle of virtual work:BExFyNPut equation (2) into equation (3), the positive pressureproduced by adjustable mechanism can be obtained:FLLN)tan(tan13If the helical pitch of screw nut is P, the relative rotationangle between the lead screw and the screw nut is , so thedisplacement of screw nut s can be expressed as:2Ps So:)sin(2sinsincoscos32123234hhLDLLLLsLThe relationship between the displacement s of screwnut and the diameter D of pipeline can be calculated byequation (6):3234432322122hhLsLsLLLLLDDifferential equation (5):2Ps Transfer efficiency of screw nut is expressed by ,according to the principle of virtual displacement:1749TTsF0Putequation(4)and(7)intoequation(8),thetorque-adjusting of screw nut can be obtained:NLPLT)tan(tan231If the friction coefficient of tracked and the pipeline wallis expressed by , the traction force Fqof robot can beexpressed as:TPLLNFq13)tan(tan2It can be known that the traction force of robot is related tothe angles of structures, the friction coefficient, the length ofcomponents, the helical pitch of lead screw and so on.particularly, its closely related to the torque of stepper motor.Therefore, according to the size of traction, the robotsoperating speed and the transmission efficiency of system toselect the appropriate motor. In the case of a certain power,the speed of stepper motor is inversely proportional to thetorque, So if want to get a good traction, can reduce the speedof stepper motor appropriately.IV. ANALYSIS OFTRAVELING-CAPABILITY ANDOBSTACLE-CLIMBINGCAPABILITY FORPIPELINEROBOTA.Analysis of Adjusting TorqueWhen the robot ready to operate in the pipeline, thegeometric center point O0is not coincident with the geometriccenter O of pipeline, in this case, its necessary to adjust theadjustable mechanism to make the tracked of drivingmechanism to contact with the inner wall of pipeline, and tomake the two center lines coincide. In this process, theadjusting torque is mainly to overcome the gravity, and toovercome the sideslipping of two lower driving mechanisms.When the three trackeds of driving mechanisms have beencontact with the pipeline wall and produce the appropriatepositive pressure, the robot has designed traction force, andthe adjusting torque is mainly determined by the tractionindex.When the attitude angle of robot is 0, the output adjustingtorque of motor reach the maximum. Therefore, as long as toanalyze this situation, the maximum adjusting torque can berequired.Analysis the diagram of adjusting torque to overcome thegravity and the sideslipping is shown as Fig. 3, the pipelinecenter is denoted as O, the center ofrobot is denoted as O0, thelength of pipeline diameter is denoted as D, the currentdistribution radius of drive wheel is denoted as r, the robotsgravity is denoted as G, Nb, Ncare the positive pressure ofpipeline wall to the two axis of robot respectively. The workof adjusting motor to overcome the gravity can be obtained:rrDGOOGW220321Figure 3.Analysis diagram of adjusting torque to overcome gravity andsideslipping.From Fig. 3:GNrDDS260sinsin22Also known from Fig. 2:321sinhhLrFrom the principle of virtual work:0BxFSNThe adjusting torque to overcome the sideslipping isobtained:tantan2331DLGPLTBy comparing equation (10) and (16), it can be seen thatthe adjustment torque is almost determined by the tractionindex equation (10).B. Force Analysis of Robot in PipelineThe force analysis diagram of robot in the pipeline asshown in Fig. 4. is the angle between the axis of upper partof pipeline and the horizontal positive direction, as the attitudeangle of robot . Due to the symmetry of robots structure, aslong as to study the attitude angle from 0 to 120. In general,the main body of robot is coincident with the center ofcoordinate, denoted as O. The robots gravity is denoted as G,Na, Nb, Ncare the positive pressure of pipeline wall to thethree-axis of robot respectively.The force balance of X-axis and Y-axis shows:0)60sin()120sin(sin0)60cos()120cos(coscbaycbaxNNGNFNNNF1750Figure 4.The force diagram of pipeline robot in the pipeline.C. Analysis of Obstacle-climbing CapabilityThere are two main obstacles for the robot in the pipeline,one is raised step type obstacle, the other one is ditch typeobstacle. When the ditch type obstacles in large size, it can bedivided into up and down two steps of actions. So theobstacle-climbing capability of robot is mainly performanceof climbing steps.Because the speed of pipeline robot is very small whenencounter obstacles, static analysis can be used to analyze thestress situation as shown in Fig. 5. The force point betweenthe front wheel and the ground is replaced by the obstaclefulcrum when encounter obstacles. The parameters in Fig. 5are set as shown in TABLE 2.Figure 5.The force diagram of obstacle-climbing of robot.TABLE II.PARAMETERSSETTINGTABLE INFIG. 5ParametersThe Meanings of ParametersOThe center of robots gravityF1、F2The reaction force of the front and the rear wheelsrespectivelyf1、f2The friction force of the front and the rear wheelsrespectivelyH1、H2The driving forces of the front and rear wheelsrespectivelydThe diameter of wheelhThe height of obstacleThe angle between the reaction force of obstacle on thewheel and the horizontal directionThe maximum resistance of obstacle-climbing of robot :sincos11fFRBy the balance of force:0)()(0cossincos0sincossin222211122111cbaFhfhHbaGMFGfFHFfHfFHFyxAssuming the biggest propulsion and resistance can beexpressed approximatively as:FHFfWhere : H is the vector sum of H1and H2, F is the vectorsum of F1and F2, f is the vector sum of f1and f2, by theequation (18) - (21) can obtain:)(tan)()1()(tan)1 (tan)(2cbahcbabahcGRWhere : the size of and a can be expressed by h and d:dhdhd212/2/sin2222)2(21)2()2(hddhddaThe successful conditions of obstacle-climbing of robot isthe output torque of motor greater than the resistance momentof obstacle:)2(hdRMOn the contrary, if the output torque of motor is known,the maximum obstacle height h of robot can be calculated.According to this way, the other obstacle types can be madean analytical analogy one by one. Through analysis, the otherobstacle types suffered maximum resistance are less thanabove, so the analysis of obstacle-climbing above is the basicrequirement.V. EXPERIMENTThe prototype of pipeline robot is shown in Fig. 6, of thisprototype can suit the diameter of pipeline from 200mm to300mm. Its lengthis 340mm, andthe total qualityis about 4kg.Similarly, with the adjustment mode of parallel connectingrods and screw nut, the robot can be extended to adapt thedifferent rang of diameter to meet the needs if replace itsparallel connecting rods and lead screw.The experiments select the straight pipeline with thediameter of 250mm to carry out the traction experiment ofrobot. The critical friction coefficient =0.4, the attitude angleof robot =90.1751Figure 6.The prototype of robot.A.Traction Experiment of RobotThe fixed force sensor is connected to the end of robot,and control the robot to move forward in the straight pipeline,until the robot cant go ahead with the tracked slide on thecontact surface. At this time, the measured value of forcesensor is the maximum traction value of robot on the contactsurface. The experimental data are shown in TABLE 3, themaximum traction value is 124.5N. Traction experiment ofrobot is shows in Fig. 7.TABLE III.DATASHEET OFTRACTIONEXPERIMENTTypes ofContactSurfaceResults of Traction Experiment(N)MeanValue(N)FrictionCoefficient123PVCpipeline0.38124.8122.5126.2124.5Figure 7.Traction experiment of robot.The size of components in Fig. 2: L1=80mm, L2=60mm,L3=50mm, L4=160mm, the helical pitchofleadscrewP=5mm,the transfer efficiency =0.6, the torque of stepper motorT0.4Nm, the size oftraction is determined by equation (11):Fq128.87N, there is almost no gap with the actual result.Because the regulating mechanism is the multi-parameterssystem with many parameters constrained by each other, thesmall error of each parameters can cause the change of finalresult. Analysising the error source is mainly from themeasurementerroroffrictioncoefficientandmotortransmission efficiency. Because the measuring instrumentsis required higher when measuring these two values in theactual process, the certain error range is allowed.B. The Experiment of Obstacle-climbing CapabilityPut the obstacle in front of the tracked of drivingmechanism in straight pipeline, the height of obstacle isincreasedeverytimesfortheexperimentofobstacle-climbing capability, until the robot can not passthrough. At this time, with the caliper which precision is0.02mm to measure the height of obstacle, the obstacleindicator of robot can be measured. The experiment ofobstacle-climbing capability as shown in Fig. 8.Figure 8.The experiment of obstacle-climbing capability of robot.Experimentalmeasurement,whenthedrivingmechanisms of three-axis contact with the pipeline wallclosely, the maximum height of robot can crossing is 8mm,shows that the robot has the good obstacle-climbingcapability. As can be seen from equation (22) and (25), if thecontact force between the tracked and the pipeline wall isreduced properly at this time, the robot can obtains greaterobstacle performance.VI. CONCLUSIONThetraveling-capabilityandtheobstacle-climbingcapability of pipeline robot in harsh environments are majorperformanceevaluationindicators.Theadjustablemechanism with the screw nut and the parallel connectingrods proposed above grants a tracked pipeline robot betteradaptability to different diameters of pipelines. Which notonly makes the robot obtain a certain obstacle-climbingcapability, but also avoids overload damage of motors. Thispaper analyze the mechanical characteristics of adjustablemechanism and the traction of robot, focusing on thetraveling-capability and the obstacle-climbing capability, and1752describingtheeffectsofvariousparametersontheobstacle-climbing capability. Experiments are conducted,verifying that this king of robot have the excellent tractio
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