Mechanical Analysis of Superheater Pipe Detection Robot

Aiming at solving the problem of detection to superheater pipes in thermal power plants., this paper designs a pipe crawling detection robot. The robot consists of a main climbing part and a detection mechanism. The robot crawls on the pipeline by the alternate clamping of two grippers and the retraction of the linear module. The detection mechanism detects the surface of the pipeline by the telescopic linkage and the detection device. Firstly., the mechanical structure and control system of the robot was designed; Secondly, the gripper was analyzed with force closure; Then this paper analyzes the motion state and force condition of the robot by Adams software; Finally., this paper conducts modal analysis on the climbing part of the robot body under two working conditions by Ansys Workbench., and it is concluded that the climbing part of the robot body does not resonate during the working process.