The Mechanism Reseach On MCR-Ⅰ Non-enveloping Permanent Magnet Adsorption Pipe Climbing Robot

There are a large number of pipelines conveying high temperature,high pressure and toxic medium in the petrochemical industry.There are also a large number of pipe racks and tubular cables in the bridge construction industry.These pipelines and pipe racks need regular maintenance and repair,and maintenance work is usually done manually.Manual work has problems such as high-altitude operation,harsh environment,low efficiency,large error,high cost,etc.Therefore,it is urgent to develop a crawling robot capable of climbing various pipe racks and carrying professional tools instead of manual work,and the application prospect is very broad.The non-enclosed permanent magnet adsorption creeping robot designed in this paper adopts non-enclosed holding structure,which is driven by four wheel arms.The four-wheel arm is supported by four-bar linkage and its arm angle is adjustable.The creeping robot can adapt to large pipe diameter variation from 200 mm to 1000 mm and has a wider range of application.The robot adopts permanent magnet adsorption.In order to adapt to the creep of various pipes in different positions and maintain the flexibility of movement,the adsorption force of the designed robot can be adjusted.In this paper,the main structure design of the creeping robot is designed,and the adsorption force adjustable mechanism is designed.The three-dimensional model is built by Solidworks software and the finite element analysis of key components is carried out.The vertical crawling state of the creeping robot is analyzed.Ansoft software was used to simulate the adsorption capacity of the adsorption module,the main sizes of adsorption modules were optimized,By using ADAMS to build the virtual prototype model and analyze the crawling dynamics of the creeping robot,the positive pressure curve of each driving wheel and the velocity curve of the crawler robot were obtained.The physical model of the creeping robot prototype was processed according to the design scheme,and the actual crawling experiments were carried out on the 300 mm pipe and the 1000 mm pipe respectively.The adsorption performance and creeping feasibility of the creeping robot were verified,and multi-path crawling could be realized.At the end of the paper,the single-chip control and sensor selection of the creeping robot are briefly introduced.