Research On The Mechanism Of Climbing And Moving On Non-ferromagnetic Arc Surface

Since the 21 st century,national industry has developed rapidly.With the popularization and utilization of pipeline technology in various industries,pipelines have become an important part of industrial production.However,with the increase in the amount of pipeline construction,pipeline problems are gradually exposed,such as broken pipe walls and clogging of foreign objects in the pipes,which have serious impact in the normal industrial production process.In addition,the internal structure of some pipelines is complex and narrow,so it is difficult for humans to access them for inspection.Therefore,research on specialized pipeline robots has gradually become a promising and attractive topic in this filed.GIS pipeline is one of the important components of substation equipment.Unlike traditional industrial pipelines,GIS pipelines have a narrow internal space and complex structure,and the inner wall material of the pipeline is non-ferromagnetic.This thesis investigated the mechanism of pipeline robots climbing on non-ferromagnetic arc surfaces based on the special structure of GIS pipelines.First of all,the thesis proposed a non-ferromagnetic arc surface climbing and moving pipe robot with a diameter smaller than the curved surface inside the pipe.The robot proposed in this thesis can move on non-ferromagnetic arc surfaces by friction force.Based on the analysis of the special structure inside the GIS pipeline,the thesis proposed an adsorption method using friction to complete the adsorption in the pipeline.In structure,the thesis finally determined the robot structure by combining friction adsorption and wheel movement.And then SolidWorks was used for 3D modeling.Secondly,this thesis analyzed the stability of the robot’s adsorption movement in the pipeline and summarizes two major conditions for the robot to move smoothly in the pipeline,which are the robot does not slip and overturn.In dynamic modeling,the static adsorption state and the climbing adsorption state of the robot in the pipeline are analyzed,and the mechanics is established.The thesis analyzed the critical conditions of anti-slip and anti-overturn of the robot,and carried out simulation analysis to prove the theoretical rationality of using friction for adsorption in the pipeline.In addition,the thesis analyzed the kinematics model and the relationship between the robot speed and the wheel.In the study of control algorithms,in order to improve the accuracy and performance of the control system and make the robot complete better adsorption movement in the pipeline,this thesis proposed a novel FWA-PID algorithm based on the PID control algorithm and the fireworks algorithm,which overcomes the shortcomings of the traditional PID algorithm that parameters are difficult to set.The experiment proved that the PID control strategy based on the improved firework algorithm is better in robot control.Finally,the overall research of the robot control system is analyzed in detail.The thesis established a fully closed-loop robot control system with a single-chip computer as the lower computer control core and a PC as the upper computer.The thesis introduced the selection of several main components and developed the upper computer control software by C++,which can remotely control the robot and display the data collected by the robot.Based on the previous research on pipeline robots,a prototype of a pipeline robot of climbing and moving on non-ferromagnetic arc surfaces was developed.The thesis verified the feasibility and correctness of climbing and moving on nonferromagnetic arc surfaces using friction.Comparing with the existing GIS robots,the results showed that the robot proposed in this thesis was more innovative and superior on the GIS arc surfaces.