The Research On The Technology Of PGR-? Pipe Climbing Robot

The main function of the out-of-pipe creeping robot is to carry corresponding equipment to perform continuous or intermittent climbing on the pipe wall.It can be used not only for small-diameter industrial pipelines and domestic pipelines,but also for cable-stayed bridge cables and cylindrical truss structures inspection,maintenance or spraying operations.Therefore,it has broad application prospects.The outer wall crawling robot designed in this paper adopts a wheel-driven and gravity self-locking method.The robot can adaptively change the gravity of the load and change the diameter of the pipe.Through the difference in the speed of the two drive wheels,the robot can crawl in the pipe wall in all directions.The driving mechanism of the PGR-III climbing robot is symmetrically mounted on the base with dual tilt driving wheels,and can adjust the installation angle and inclination angle of the driving wheel according to different diameters.Through the static analysis of the whole robot,the self-locking balance equation on the pipe wall and the drive force when the robot climbs are deduced,and a suitable drive motor is selected.Through the mechanical analysis of the holding mechanism,the relationship between the pre-tightening force of the locking mechanism and the positive pressure of the holding wheel is further deduced,which lays a theoretical foundation for the dynamic simulation of the climbing robot.On the basis of theoretical analysis,this article completed the three-dimensional modeling and virtual assembly of the robot body through Solid Works software,and conducted the finite element analysis and optimization design of the main components.In this paper,the virtual prototype model of climbing robot is established in ADAMS/View,and the dynamics simulation analysis of the robot is carried out.First of all,through the parametric design study of the robot's self-locking performance,the center of gravity of the robot system,the adjustment spring and the installation angle are optimized.Secondly,the robot's vertical climbing performance and spiral climbing performance are simulated and analyzed.The positive contact pressure change and system center of gravity displacement,velocity and acceleration during the climb are studied,and finally the robot adapts to pipe bending and pipe diameter changes.The situation is simulated,and the simulation results show that the robot can be self-locking,effectively complete the climbing task,and have good adaptability to the complex pipeline.At the end of the thesis,the control system requirements of the climbing robot are analyzed,the hardware platform and control strategy of the control system are designed,and the control system is simulated by ADAMS and MATLAB.The simulation results show thatthe fuzzy control theory can realize the diameter of the robot system adaptively adjusts the driving force and the holding force to make the robot go through obstacles or stop moving...