Structure Design And Simulation Of PGZX-1Pipe Climbing Robot

It is easy to have serious cementation phenomenon that heat the furnace tube for along time, and cause the pipe wall hardening changes crisp, extremely easy to create thefurnace tube break. Regularly detect the tube column will guarantee the work more stableand much safer. To raises the automation level and reliability of detect, the articleproposed one kind robot structure that aim at the pipe which is tall and slender, and itsstructural style is well-knit permutation. This kind of robot can climb up the tube do not onthe limit of column material and it can adapt major scope caliber. The robot climbing speedstable, and its structure is small, it can solve the problem that engine body deflect becauseof the pipe bend.The robot design a rubber caterpillar climbing mechanism, it can fulfill the pipedetection demand that realize the robot climb constant velocity and stably. Aim at thefeatures that small spacing between pipes, and it makes against the robot grasps the pipe onevery side, and the space of operation is small, the article puts forward a chain mechanicalencircle structure to realize complete attach closely between engine body and pipe, it canadapt different pipe and pipe spacing. The probe head installment uses the guide screw andthe meniscus joint, it can realize the small angle rotation, and expanded survey area. Thedesign complete the robot plan design and M-3DM of engine body, and complete typeselection of drive element, and complete design calculation and check of the majortransmission parts.The article conducts ADAMS kinematics simulation of the locomotor system. ImportADAMS after simplify the M-3DM. By make the acceleration as rigid member, we buildthe caterpillar simulation model by exert articulation, load and constraint. Simulationanalyses the interaction between caterpillar blocks and driving wheel and the change ofvelocity and acceleration of caterpillar block, and the load-carrying capability of graspmechanism in the process of climbing. The simulation analyses show the robot can realizefavorable climbing state.PGZX-1climbing robot put forward chain grasp mechanism to realize attach of pipewhich is in small spacing, and use caterpillar climbing mechanism to realize homogeneousand dependable climbing. Simulation analyses show the robot has higher motionperformance, it can use to realize automation detection of pipe.