Pipeline Robot Based on Umbrella-shaped Flexible Expansion

Abstract

With the development of science and technology in modern society, people have conducted more in-depth research on automatic and semi-automatic robots. This kind of robot is an integrated system of machine, electricity and instrument, which can move in specific areas or areas that people are difficult to enter or operate in person, carry one or more sensors and operating machines, and carry out a series of operations under the remote control operation of workers or automatic control of computers. As an important means of transportation, pipelines are widely used in people s lives. However, if it is not overhauled or cleaned in time, it may lead to pipeline blockage and failure. Considering that the pipeline is a difficult area for workers to enter, and taking inspiration from the stable triangular structure and the contraction and relaxation of the umbrella-shaped structure, a pipeline robot is designed, which can adapt to the pipeline structure with different radius sizes and carry out a series of maintenance and cleaning work. This project mainly includes mechanical structure design, Bluetooth wireless control and installation of cleaning and testing equipment in the manufacturing process. The stable shape of the triangular structure is used to enable the robot to move steadily in the pipeline. Through each motor installed at the three vertices of the triangular structure to drive the roller, and combined with the first umbrella-shaped structure, the robot can travel in the pipeline and adapt in pipelines of different sizes. Arduino controls the rotation direction and speed of the motor to realize different modes of travel. Wireless control is connected to the robot master control through Bluetooth devices such as mobile phones, and sends operation instructions to the pipeline robot when using it to control its actions. A variety of equipment can be installed in the robot body, such as cleaning equipment, detection equipment, camera equipment, etc. The ultimate goal of this project is to realize that robots can move freely in pipelines of different sizes and perform different tasks according to different equipment installed.