Structural Design And Research Of Multi-functional Obstacle-crossing Robot

In the context of the rapid development of contemporary economy and science and technology,pipelines,as important transportation carriers,have gradually spread from urban areas to places with high risk factors such as the wild and high altitudes,which have brought great significance to the maintenance of pipelines and the safety of workers’ lives.In addition,the purely manual operation method has many dangerous factors and low operation efficiency.Therefore,the mechanized operation of the outer wall of the pipeline is an urgent problem to be solved in complex environment operations such as high altitude.To this end,a multi-functional obstacle-crossing and pipe-climbing robot is designed,which can carry operating equipment and replace workers to work on various types of pipe outer walls.The robot can not only realize the basic forward and backward movements of the outer surface of the pipeline,but also realize the obstacle-surmounting function of the Lshaped and cross-shaped pipelines through the combination of rotation,forward,and backward movements.The multi-functional obstacle-crossing tube climbing robot can adapt to the diameter of the pipe in the range of 140 mm to 180 mm,realize the crawling of the adaptive variable pipe diameter scene,and has a wide range of adaptability.Its design ensures the safety of workers and improves the operation.effectiveness.The main research contents of the text are as follows:（1）Based on the understanding of the research status of the out-of-pipe-climbing robot at home and abroad,the overall scheme of the multi-functional obstacle-crossing and outpipe-climbing robot is designed,the requirements of each function are comprehensively analyzed,and the multi-functional obstacle-crossing and out-pipe climbing robot is determined.The clamping scheme,travel scheme and driving scheme of the robot have been completed,and the overall frame design of the control system has been completed.（2）Aiming at the overall plan of the multi-functional obstacle-crossing and pipeclimbing robot,the clamping mechanism of the robot is designed,the clamping parameters are created and associated with the design features,the optimal parameters of the clamping mechanism are clarified,and the clamping mechanism is optimized.The mechanical structure of the mechanism.The three-dimensional model of the multi-functional obstaclesurmounting tube-climbing robot is established,and the finite element analysis and topology optimization of key components are carried out based on ANSYS.Finally,the optimal design of the mechanical structure of the multi-functional obstacle-traversing tube-climbing robot is completed.（3）The motion law of the multi-functional obstacle-climbing robot outside the pipe was studied,the kinematics analysis was carried out,the stability of the clamping mechanism during the movement was analyzed,and the mapping relationship between the parameters was obtained,which was used for the later dynamics.Simulation provides the basis.（4）The climbing action of the multi-functional obstacle-crossing tube-climbing robot was planned and designed.Based on the ADAMS dynamic analysis software,the dynamic parameters of different movements were analyzed,and the multi-functional obstaclecrossing tube climbing robot was verified.The rationality of the structural design of the tube robot and the stability of the movement process.（5）The control system of the multi-functional obstacle-climbing robot outside the tube was designed,the main program,the sensor module and the program of the obstacleclimbing module were planned,and the physical prototype of the multi-functional obstacleclimbing robot outside the tube was finally developed.,and carried out a prototype experiment.The results show that when the multi-functional obstacle-crossing and pipeclimbing robot moves on a horizontal pipe,it can ensure the expected crawling speed of0.3m/s,and the movement process is stable;when moving on a vertical pipe,the movement is stable.The process is not ideal.However,the experimental results verify the rationality of the structure design,and provide ideas for the future research on the tube-climbing robot outside the tube.