Design And Research Of Magnetic Pipeline Obstacle-climbing Walking Mechanism

As more and more internal operations in pipelines are replaced by robots instead of labor,the passability of pipelines has become the focus and difficulty that needs to be overcome in actual engineering.Aiming at the ubiquitous vertical pipelines,circular vertical obstacles,and butterfly valve obstacles in the pipeline,this paper proposes a magnetic pipeline obstacle walking mechanism model based on the actual situation that the pipelines are mostly metal materials.The walking mechanism is measured by a camera and ultrasonic.The distance module performs type recognition and distance measurement of obstacles in the pipeline,and the auxiliary swing arm wheel,magnetic adsorption device and the walking mechanism body itself make corresponding posture changes according to different pipeline road conditions to realize the pipeline obstacle crossing action.Based on the modular design idea,this paper completed the overall plan design of the walking mechanism,and completed the creation of the modules and the overall structure of the walking mechanism.Analyzed the obstacle-climbing performance and passability of the walking mechanism to these common types of pipeline obstacles.On this basis,the kinematics analysis and kinematics simulation of the walking mechanism of the pipeline crossing obstacle are carried out,the mechanics and the changes of the spatial posture of the walking mechanism are analyzed,and the force characteristics and the movement law of the walking mechanism when crossing the obstacle are studied.,Get the driving torque,movement mode of each module and the range of magnetic attraction demand of the whole body.Then according to the operating characteristics in the pipeline,the permanent magnet adsorption adsorption method was selected,the main factors affecting the permanent magnet adsorption force were simulated and analyzed,the appropriate magnetic sheet layout plan was determined,and the magnetic adsorption device was carried out based on the magnetic mass ratio.optimization.The image processing is used to classify the obstacles in the pipeline,and the control system to realize the corresponding obstacle crossing action response to the pipeline obstacle type is completed.Finally,based on the results of experiments and simulations,the components that meet the design requirements were selected,an experimental prototype of the walking mechanism was built,the pipeline environment was simulated,and the basic performance and obstacle crossing performance of the walking mechanism were tested.