Structural Design and Mechanical Analysis of Permanent Magnet Wheeled Climbing Robots on an Outer Wall of Pipelines

Li Haonan; Hou Yu; Jiang Yiwei; Sun Wei

doi:10.16578/j.issn.1004.2539.2023.10.007

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Structural Design and Mechanical Analysis of Permanent Magnet Wheeled Climbing Robots on an Outer Wall of Pipelines

Design· Calculation | 更新时间：2023-10-09

- Structural Design and Mechanical Analysis of Permanent Magnet Wheeled Climbing Robots on an Outer Wall of Pipelines
- Journal of Mechanical Transmission Vol. 47, Issue 10, Pages: 48-54(2023)
- 作者机构：
  
  1.武汉科技大学冶金装备及其控制教育部重点实验室，湖北武汉 430081
  2.武汉科技大学机械传动与制造工程湖北省重点实验室，湖北武汉 430065
  3.武汉科技大学精密制造研究院，湖北武汉 430081
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2023.10.007
  CLC：
- Published：15 October 2023，
  
  Received：10 August 2022，
  
  Revised：11 September 2022，
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李浩男,侯宇,蒋怡蔚等.永磁轮式管外攀爬机器人结构设计与力学分析[J].机械传动,2023,47(10):48-54.

Li Haonan,Hou Yu,Jiang Yiwei,et al.Structural Design and Mechanical Analysis of Permanent Magnet Wheeled Climbing Robots on an Outer Wall of Pipelines[J].Journal of Mechanical Transmission,2023,47(10):48-54.
李浩男,侯宇,蒋怡蔚等.永磁轮式管外攀爬机器人结构设计与力学分析[J].机械传动,2023,47(10):48-54. DOI： 10.16578/j.issn.1004.2539.2023.10.007.

Li Haonan,Hou Yu,Jiang Yiwei,et al.Structural Design and Mechanical Analysis of Permanent Magnet Wheeled Climbing Robots on an Outer Wall of Pipelines[J].Journal of Mechanical Transmission,2023,47(10):48-54. DOI： 10.16578/j.issn.1004.2539.2023.10.007.

摘要

在石油、化工等行业中，大型管道长期运输腐蚀性油气资源，需要进行定期检测。针对这一应用场景，提出了一种能够在管道外壁稳定行走且具有良好越障能力的永磁轮式机器人。该机器人采用六轮摇臂式移动机构配以永磁轮，搭载检测设备后可以代替人工进行更加安全高效的检测。根据机器人在管道上稳定吸附的力平衡条件，计算出机器人所需的最小磁力，从而确定机器人运动所需的驱动力；通过Maxwell仿真建立永磁轮的磁力分析模型，设计并确定了永磁轮的尺寸；最后，基于Adams软件进行机器人的运动学仿真，验证了机器人的越障能力。

Abstract

Large pipelines with long term transport of oil and gas resources need to be tested in petrochemical industry nowadays. In this case

a robot which adopts a six-wheel rocker-bogie mobile mechanism with the permanent magnet wheel is proposed to realize the function of the stability to walk on the outer wall and good ability to climb over the obstacle

in order to replace manual inspection of pipelines in a safer and more efficient way when it is equipped with the testing equipment. To determine the driving force required

the minimum magnetic force meeting the force balance condition of stable adsorption of the robot needs to be calculated first; the size of the permanent magnet wheel is designed and determined based on the magnetic force analysis model of the permanent magnet wheel established by Maxwell. Kinematics simulation of the robot based on Adams software is carried out and the ability to climb over the obstacle is verified.

关键词

永磁吸附轮式机器人力学分析越障能力

Keywords

Permanent magneticWheeled robotMechanical analysisObstacle climbing ability

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