Design of a self-adaptive pipe robot based on multi — axis differential system

In order to solve the problem of motion interference when the wheeled pipe robot passes through the elbow and the dimension of the pipe diameter when the robot is running in the geometric irregular pipe, a kind of pipeline robot with autonomous differential characteristic and adaptive variable characteristic is designed. The robot is mainly composed of multi-axis differential mechanism, travel drive mechanism, pre-tightening mechanism and auxiliary support mechanism, and modular design of each part. According to the technical requirements and the force of the robot through the elbow, the structural design of the main transmission parts is carried out. The three-dimensional solid modeling and the dynamic analysis of the pipeline robot are carried out to verify that the mechanism can meet the requirements of the pipe robot. The results show that the pipeline robot can pass through the elbow without interference, and have a certain diameter of the adaptability and obstacle barrier capability.