Design And Motion Characteristics Analysis Of Permanent Magnet Wheeled Climbing Robot On The Outer Wall Of Pipeline

In the petrochemical industry and many other industries,pipelines with large diameter are easy to be corroded to cause a leakage problem because of transporting corrosive oil and gas resources,which need to be test periodically to prevent potential safety risks.Due to the limitation of the testing site environment,manual sampling detection become the most detection methods in the enterprise to detect the parts of pipelines prone to leakage,which has low efficiency and high labor intensity,at the same time it cannot achieve full coverage of pipeline detection,so there are still risks.In view of this application scenario,a climbing robot with permanent magnet wheels which can walk on the pipeline smoothly and has good ability to cross obstacle was designed in this article,equipped with detection equipment to replace manual detection method in a safer and more efficient way.The main research on this robot is as follows:1.Based on the summary of the research status of external pipe climbing robot,combined with the characteristics of large diameter pipeline,a permanent magnet wheeled climbing robot was designed to solve the deficiency of the robot’s adaptability,stability and obstacle crossing ability from structural innovation perspective,so that it could adapt to the pipeline’s surface to stably climbing,meanwhile has good obstacle crossing ability.2.Magnetic measurement device was designed to measure the magnetic force generated by permanent magnet with regular shape,then compared with the finite element magnetic field analysis to check whether the simulation results was correct or not.At the same time,the permanent magnet wheel structure was preliminarily designed.The robot’s overall statics model was built,the force condition while the robot is on pipeline’s different positions was analyzed and the minimum magnetic force to stay on the pipeline stably was calculated to design the permanent magnet wheel.3.The structure of the robot was optimized to simultaneously meet the conditions of low energy consumption,stable movement and no interference between the mobile mechanism and obstacles during obstacle crossing.The maximum driving force required to cross obstacle was obtained through the optimization results as the premise to select suitable driving motor.4.Based on the above work,the dynamics model of the robot was built to obtain the driving force while the robot moves and crosses the obstacle on the pipeline,which gave a guidance to control the robot.5.The model of the robot to simulate motion was set based on the virtual prototype technology to obtain the robot’s kinematic simulation results under different motion states and verify the robot could complete the climbing motion required.At the same time,the prototype of the robot was made to further verify that the robot could meet the design objectives and achieve the required functions.