Design and simulation of variable diameter pipe cleaning robots

In view of the weak obstacle crossing ability and poor versatility of pipeline robots on the market, this paper designs an adaptive variable diameter pipeline inspection robot with obstacle crossing ability, which senses pressure changes through the pressure gyroscope and feeds back to the control center for feedback adjustment, and then the actuator variable diameter motor performs the diameter change, with the parallelogram reducer mechanism to enable the robot to stably change the diameter and walk, and the walking wheel mechanism is also equipped with a telescopic mechanism. Based on the principle of virtual work, the theoretical mechanical force analysis and ADAMS simulation of the mechanism were carried out to verify its rationality.