Study on the Division Method of Pipeline Robot Module

Abstract

The working environment in the pipeline is getting worse, and there are more and more functional needs for the pipeline robots. The traditional pipeline robot structure is fixed and single, and the rapid design and assembly cannot be realized. There are still problems of repeated design between different types of robots.In view of these problems, a top-down modular design method—combining of axiom design and IDEF(ICAM DEFinition method) functional modeling is proposed to divide the pipeline robot system architecture.This method uses the mapping relationship between function and structure, and extracts the general modules and special modules in different types of pipeline robot systems, which realizes the modular design of the non-modular pipeline robot, so that the module structure at its component level can be universally exchanged to form resource sharing.