Preliminary analysis of the operating conditions of the wheel drive of the in-pipe diagnostic module

The issue of logistical support for in-pipe diagnostics for pipelines of various diameters is relevant, many technical solutions for its implementation have been proposed. Modules capable of moving inside pipelines are often based on a wheeled chassis. When designing the transport system of such a robot, «general engineering» approaches are usually used. Within the framework of this paper, the experience of transport engineering is used to analyze the specifics of the mover operation. The processes of load distribution and formation of normal, longitudinal and transverse reactions on the wheels of a three-support block as part of the transport system of an in-pipe diagnos-tics module are considered. Ways to improve the energy efficiency of the transport system of the robot are pro-posed.