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Design and optimization of the magnetic adsorption mechanism of a pipeline-climbing robot

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Abstract

This study has designed a type of pipeline-climbing robot to solve the problem in which the corrosion of offshore oil pipelines and the adhesion of marine organisms easily cause safety hazards. Aiming at the problem of different diameters of the pipelines, a type of non-contact variable magnetic adsorption mechanism is designed, and a type of diameter detection mechanism and the corresponding diameter detection method are proposed to allow the apparatus to detect and adapt to pipelines with different diameters. Then, the kinematic model of the non-contact variable magnetic adsorption mechanism is established, and the relationship between the movement of the magnetic plate and the radius of the adsorption surface is determined. Furthermore, the mechanical model of the pipeline-climbing robot is established, and the stable working conditions of the robot are derived. Subsequently, the magnetic adsorption force and magnetic field optimization based on the discrete combination method are analyzed, and the optimal magnet width that satisfies the magnetic adsorption force and stable working conditions is obtained. The simulation and experiment verify that the proposed non-contact variable magnetic adsorption mechanism can effectively improve the magnetic adsorption force and magnetic energy utilization efficiency on a working surface with different curvatures on the premise of meeting the working requirements.

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Acknowledgment

This work was supported by National Natural Science Foundation of China (52075293), Natural Science Foundation of Shandong Province (ZR2019MEE019), and Fundamental Research Funds for Central Universities (2019ZRJC006).

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Authors and Affiliations

  1. School of Mechanical, Electronic and Information Engineering, Shandong University, Weihai, 264209, China

    Lu Xinrui, Guo Denghui & Chen Yuan

Authors
  1. Lu Xinrui
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  2. Guo Denghui
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  3. Chen Yuan
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Corresponding author

Correspondence to Chen Yuan.

Additional information

Lu Xin-rui is a graduate student of Chongqing University. He holds a bachelor’s degree from Shandong University, Weihai. His current research interests are robot dynamics and underwater robotics.

Guo Deng-hui is a graduate student of Hefei University of Technology, Hefei. He holds a bachelor’s degree from Shandong University, Weihai. His current research interests are robot dynamics and magnetic fields.

Chen Yuan is a Professor of the School of Mechanical and Information Engineering of Shandong University, Weihai. He received his Ph.D. from Harbin Institute of Technology. His current research interests include underwater robotics, parallel robotics and applications, robotics, and motion control.

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Xinrui, L., Denghui, G. & Yuan, C. Design and optimization of the magnetic adsorption mechanism of a pipeline-climbing robot. J Mech Sci Technol 35, 5161–5171 (2021). https://doi.org/10.1007/s12206-021-1033-y

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  • DOI: https://doi.org/10.1007/s12206-021-1033-y

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