模块化作业爬壁机器人设计与分析

杜小禹; 杨培; 张明路; 刘文翰; 孙凌宇

doi:10.13433/j.cnki.1003-8728.20230041

模块化作业爬壁机器人设计与分析

doi: 10.13433/j.cnki.1003-8728.20230041

河北工业大学机械工程学院, 天津 300401

基金项目:

国家重点研发计划 2018YFB1309400

河北省自然科学基金项目 E2021202032

河北工业大学学科交叉方向研究生培养项目 HEBUT-Y-XKJC-2021119

详细信息

作者简介:
杜小禹, 硕士研究生, 862010714@qq.com

通讯作者:
孙凌宇, 教授, 博士生导师，博士, sunlyu78@126.com

中图分类号: TH692.9
计量
- 文章访问数: 8
- HTML全文浏览量: 3
- PDF下载量: 1
- 被引次数: 0
出版历程
- 收稿日期: 2022-05-12
- 刊出日期: 2024-07-25

Design and Experiment of Modular Wall-climbing Robot

School of Mechanical Engineering, Hebei University of Technology, Tianjin 300401, China

摘要

摘要: 为解决传统爬壁机器人在海上风电塔筒立面的作业效率低下和吸附力不足问题，根据模块化设计方法，提出一种可同时用于表面漆膜检测及运维的模块化履带式爬壁机器人。本文详细介绍作业机器人的结构组成及原理，为防止机器人发生滑落和倾覆现象，对其进行力学分析；构建间隙式永磁吸附模型，利用Maxwell软件与传统磁路设计进行参数化仿真对比，并分析气隙和壁厚对机器人吸附力的影响；通过样机平台模拟实验和真实作业，表明机器人能以稳定运动姿态实现塔筒高空及水下作业，验证了其模块化作业的可行性，并同时具备较强的吸附能力和越障能力。
- 爬壁机器人 /
- 模块化设计 /
- 永磁吸附
Abstract: In order to solve the low efficiency and insufficient adsorption capacity of traditional wall-climbing robot in offshore wind power tower facade, a modular crawler wall-climbing robot was proposed based on the modular design method, which can be used for surface paint film detection and operation and maintenance. The structure and principle of the working robot in detail is introduced. In order to prevent the robot from slipping and overturning, the mechanical analysis is carried out. A gap-type permanent magnet adsorption model was established, and Maxwell software was used to make parametric simulation comparison with traditional magnetic circuit design, and the effects of the air gap and wall thickness on the robot adsorption force were analyzed. The simulation experiment and real operation of the prototype platform show that the robot can realize the high-altitude and underwater operation of the tower with a stable motion posture, which verifies the feasibility of its modular operation, and has strong adsorption capacity and obstacle surmounting ability.
- wall-climbing robot /
- modular design /
- permanent magnet adsorption

HTML全文

图 1 作业爬壁机器人结构组成图

Figure 1. Structure composition of the wall-climbing robot

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图 2 作业爬壁机器人吸附受力分析图

Figure 2. Adsorption force analysis of wall-climbing robot

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图 3 间隙式永磁吸附结构示意图

Figure 3. Schematic diagram of gap-type permanent magnet adsorption structure

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图 4 间隙式永磁吸附结构磁感线矢量分布图

Figure 4. Vector distribution of magnetic inductance line of gap-type permanent magnet adsorption structure

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图 5 间隙式永磁吸附结构磁场强度分布图

Figure 5. Magnetic field intensity distribution of gap-type permanent magnet adsorption structure

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图 6 磁吸附力随气隙间距s变化规律图

Figure 6. Variation of magnetic adsorption force with air-gap spacing s

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图 7 磁吸附力随壁厚t变化规律图

Figure 7. Variation of magnetic adsorption force with wall thickness t

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图 8 吸附力测试

Figure 8. Adsorption force test

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图 9 作业模块实验

Figure 9. Operation module experiment

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图 10 运动性能实验

Figure 10. Motion performance experiment

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图 11 负载性能实验

Figure 11. Load performance test

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图 12 越障能力实验

Figure 12. Obstacle crossing ability experiment

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图 13 防水能力实验

Figure 13. Waterproofing ability test

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表 1 永磁体结构参数

Table 1. Structural parameters of permanent magnet

参数	数值
剩余磁感应强度B_r/T	1.30~1.35
矫顽力H_cb/(kA·m^-1)	876~926
内禀矫顽力H_cj/(kA·m^-1)	≥955
最大磁积能B_{h, max}/(kJ·m^-3)	342~358
工作温度T_w/℃	≤80

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