Design of a Spiral Wheeled Adaptive Pipeline Robot

Aiming at the complex environment with different pipe diameters and steep slopes, a motor-driven spiral wheeled adaptive pipeline robot is designed. The iris mechanism is used to realize the adaptive function of robot's diameter change; The robot can move forward, backward, accelerate, decelerate, expand and contract by remote control. Combined with the core machine vision algorithm and wireless image transmission technology, pipeline defects are intelligently detected and transmitted in real time. Theoretically, the critical state of the robot crawling in the vertical pipeline is analyzed statically, and the physical prototype of the robot is built. Through the physical test, it is verified that the robot can work normally in the pipeline diameter range of 110~180mm. The results show that the robot has the advantages of good climbing ability, strong expansibility and simple operation.