Study On The Type Of MCR-? Out-pipe Climbing Robot Technology Of Permanent Magnetic Adsorption

The permanent magnet adsorptive tube wall crawling robot(MCR-II)can not only crawl on the outer wall of the tube with diameter of more than 200 mm,but also can crawl on the inner wall of the tube with diameter of more than 500 mm,and even can crawl on the plane to carry out the detection and maintenance of the ferromagnetic wall.It can be widely used in petrochemical industry,nuclear industry,wind power engineering,bridge construction and other fields,which can greatly reduce the risk of manual operation and improve efficiency.This paper carries out the following research contents.The design scheme of permanent magnet adsorption type tube crawling robot is presented.The magnetic adsorption mechanism and wheel arm reducing mechanism are analyzed and simulated.An accurate magnetic force control method based on variable magnetic adsorption unit is proposed.The wheel arm reducing mechanism was optimized,and the circumferential movement of the pipe climbing robot was realized along the outer surface of the pipe,and the virtual prototype simulation was carried out.A wheel-arm type magnetic adsorption crawling structure was designed.Based on the symmetrical double slider rocker mechanism,the adsorption and crawling can be realized in the range of large pipe diameter.The kinematics model was established,and the control wheel arm and magnetic adsorption structure worked together to realize the intermittent circumferential crawling motion of MCR-II along the pipe wall.The optimum design of the wheel-arm crawler mechanism is carried out.Taking the maximum circumferential motion step as the optimization objective and the interference of the mechanism as the constraint condition,the optimization values of each bar length were obtained.Using MATLAB optimization toolbox,the global optimal solution is realized.The adsorption capacity of magnetic adsorption unit was analyzed.Through ANSYA Maxell of magnetic adsorption unit to establish a two-dimensional simplified model,analysis of the adsorption of distance,the two parameters of magnetic field direction adsorption force,the influence of export relationship curve,use MATLAB to analyze adsorption both distance and direction of the excitation and change the size of the magnetic force at the same time,the change curve and the fitting function was derived,based on local test for validation.The gait analysis of the circumferential motion of the wheel-arm pipe climbing robot is carried out.Three-dimensional model was established through Solid Works,and the circumferential motion mechanism diagram was simplified in Auto CAD,and each movement of the circumferential motion of the pipe climbing robot was analyzed successively.Using finite state machine,the gait model is established and the related parameters are determined.Simulation analysis of the whole machine.The 3D model was imported into ADAMS,and the motion simulation was carried out after setting relevant parameters,and the circumferential motion simulation animation and the parameter curves of key points were obtained.