Mechanism design and performance analysis of tracked pipe robot

Pipeline robot is a kind of system that can automatically walk along the pipeline, with one or more sensors and operation machinery (such as manipulator, spray gun, etc.), under the remote control or automatic control of the operator, can carry out a series of pipeline operations machine-electric-instrument integrated system. It is often used in petroleum, chemical industry, nuclear industry, urban construction and other engineering pipeline quality inspection, welding, maintenance and so on. Pipeline robot is also a combination of multiple disciplines, involving mechanical engineering, automatic control, computers, sensors, artificial intelligence and electronic technology. At present, the development of pipeline robot mainly focuses on the innovation and development of mechanism, drive, sensors, intelligent control, miniaturization, power supply and communication. Based on the scientific research achievements at home and abroad, this paper systematically studied the driving principle and mode, movement principle and mechanical mechanism of the pipeline robot. Main work for the institutional research design of pipeline robots. Based on the comprehensive consideration of various factors, the pipeline robot mobile mechanism is determined, and points out the main problems that should be considered when designing the robot.