Performance analysis of a dual-helix driven pipeline descaling robot

Pipeline transportation as one of the fastest and most convenient means of transport, in the process of wide application, some impurities will be adsorbed on the inner wall of the pipeline, with the passage of time, these impurities will gradually accumulate to form deep hard scale, which will reduce the transportation efficiency of the pipeline, seriously corroding the pipeline, leading to rupture and environmental pollution; severe scale accumulation may even block the pipeline, which can cause leaks and explosions. At present, maintenance personnel need to manually clean, and the working environment is poor and inefficient. In order to solve these problems, the use of robots instead of humans can not only improve work efficiency, but also effectively deal with the complex work environment that is difficult to reach by humans, which is of great significance. In this paper, a dual-helix driven pipeline descaling robot was designed to analyze its scaling efficiency in the pipeline, establish a scaling model of the robot in the pipeline, study the relationship between cutting parameters and scaling efficiency, the factors affecting cutting force and the disturbance of the tool in the cutting process, and analyze the scaling efficiency changes with the single factor of cutting parameters through finite element method. On this basis, experiments were conducted to determine and validate the key factors that have the greatest impact on descaling efficiency.