| The pipeline robot has been widely used in all kinds of dangerous workenvironment instead of manual operation, reduced the risk of manual detection and thecost of operation greatly, and has been have a very broad market in the future. So it hasgradually become one of the popular fields of the development of industrial robot. Thepipeline climbing robot researched is a new-type robot with being able to move on theexternal surface of pipeline automatically; having the abilities of turning, transition, andcertain obstacle surmounting; and can carry on the quality testing and maintenance byequipping with corresponding test equipment in this paper.The application background and development situation of technology of theexisting pipeline climbing robot at home and abroad, and the environmental conditionsof the pipeline are investigated, analyzed and researched in a little more detail. Theresearch status of the pipeline climbing robot is also demonstrated and summarized, andthe overall design scheme of a lightweight articulated pipeline climbing robot isproposed in the paper, and the optimization design of the robot is conducted based onthe analysis of motion dynamic characteristics. The main contents of this study areshown follows:1. Discussing the feasibility of the overall scheme of the pipeline climbing robot,determining the climbing gait of this climbing robot can be divided into the wormclimbing gait and the turning climbing gait. The state, process and overstepping abilityare analyzed and discussed deeply when the robot climbs and moves by using these twokinds of gaits.2. Aiming at the environmental states of pipeline and inspection requirements inthe actual production, the overall structure of the pipeline climbing robot is designed,and the3D solid modeling and structural design of the robot are conducted.3. The simulation analysis for the process of climbing of the pipeline climbingrobot is done based on the software ADAMS; the climbing speed and the output torquesof all joint should be determined when the movement of the robot is the most stable andreliable.4. The parametric and optimization designs of the gripper mechanism for thepipeline climbing robot are done, the optimal size of the whole structure and the relatedcrawling dynamic parameters are determined. 5. The physical prototypes of the pipeline climbing robot is made, and the researchof climbing experiment is conducted; the feasibility of the overall design and thevalidity of simulation analysis are proved by the experimental results, and the resultsalso provide references for the further research of the climbing robot in the future. |
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