Analysis of the Motion Mechanism of Actively Spirally Driven Pipe Robot

As the core of pipeline internal working condition detection system, the pipeline robot's performance has become the biggest obstacle to the development of pipeline robots. This article addresses the complex operating conditions of changing the diameter of industrial piping systems. An active spiral driven adjustable pipe robot model powered by hydraulic system was proposed. In this model, the variable diameter adjustment system with the parallel hydraulic system as the core realizes the robot's self-adaptation and angle difference adjustment in the variable-diameter pipeline. The drive wheel hydraulic pressure limiting system is used to limit the slipping and idling of the drive wheels under complex conditions to ensure that the system has a stable driving force. The mechanism of adjusting the overall load capacity by controlling the rotation angle of the drive wheel realizes the conversion from the traditional drive to the screw drive. The research results lay a theoretical foundation for the performance improvement of the pipeline robot.