The Research On The Mechanism Of PGR-Ⅱ Pipe Climbing Robot

It is easy to have serious cementation phenomenon after heating the furnace tube for a long time,and cause the pipe wall hardening changes crisp,extremely easy to create the furnace tube break.Regularly detecting the tube column will guarantee timely replace the dangerous pipe.To raises the efficiency level and safety,the article proposed one kind of robot structure that aim at climbing the pipe which is tall and slender,the gap between them is small clearance and its structural style is well-knit permutation.The robot can solve the problem that engine body deflect because of the pipe bending.This article has presented one type of using wheel crawling robot mechanism,On one side of the pipe putting the driving wheel and other side the driven wheel,which can hold the tube tightly.The robot has the carburized layer detection sensor and can fulfill the pipe detection demand.In this paper,the self-lock condition of the robot is analyzed and established the equilibrium equation for self-locking,then analyzed the best range of optimal clip angle α.The mechanical equilibrium equation of the whole mechanics is established,and the relationship between creep wheel and normal pressure and creep driving force of robot is analyzed,which lays the mechanics foundation for further stress analysis.Based on the analysis of the tension and the driving wheel pressure of the clamp wheel,the adjustment basis of the tension of the clamp wheel is determined.For the problem of small gap between the pipes,we have designed the clamping mechanism which can rotate 90° around the clamping rod axial.This design has completed the robot’s scheme design and the 3D modeling of the structure,and carries on the finite element analysis to the main stress component.The stress and the distortion are all within the permission range.In order to study the dynamic behavior of the robot in complex situations,the Adams dynamics simulation of the robot is carried out.The self-locking requirement of the robot in the vertical pipe crawling,the pressure between the driving wheel and the wall of the pipe and the driving force as needed when the robot is crawling are studied by the simulation.The results of the simulation of the robot on the curved pipe crawling can reflect the positive pressure and the changing driving force,it also can reflect the changes of the main mechanical parameters when the robot crawling on the expended variable diameter tubes.The simulation analysis shows that the robot has good adjustment ability and can adapt to the complicated climbing condition.The PGR-Ⅱ pipe climbing robot which uses the crawling mechanism can effectively transform the gravity into the driving force,combined with pressure adjustable additionalclamping wheel,so that the robot can well adapt to different tube wall surface state.The mechanical analysis and simulation analysis show that the robot has the terrific movement performance and can meet the requirements of the crawling of the furnace pipe.