Design of Derrick Climbing Robot and its Anti-overturning Analysis
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摘要: 为了提前发现并解决JJ225/45-K型井架大腿上出现的损伤、腐蚀等问题, 基于永磁体与井架大腿的吸附原理, 设计了一种可以携带检测和维修装置的井架攀爬机器人结构。首先对该井架攀爬机器人结构的攀爬足、攀爬步态加以分析, 发现越障步态和空间翻转步态容易发生倾覆; 运用Ansoft Maxwell软件对机器人吸附足永磁体磁力仿真分析, 发现初选的永磁体尺寸不满足使用要求, 调整了吸附足上永磁体的尺寸; 最后通过Adams软件对攀爬机器人进行抗倾覆分析, 验证调整永磁体尺寸后的攀爬机器人工作的安全性, 验证发现调整尺寸后的永磁体吸附足可以安全的在井架上攀爬而不会发生倾覆。Abstract: In order to find out and solve the damage and corrosion of the JJ225 / 45-K derrick leg in advance, the structure of a derrick climbing robot is designed based on the adsorption principle of permanent magnet and derrick leg. Firstly, the climbing foot and climbing gait of the derrick climbing robot are analyzed. The analysis finds that its obstacle climbing gait and space overturning gait are prone to overturn. The Maxwell software simulated the magnetic force of the robot's adsorption foot permanent magnet. The simulation results show that the size of the primary permanent magnet did not meet the requirements. Therefore, the size of the permanent magnet on the adsorption foot was adjusted. Finally, the anti-overturning analysis of the climbing robot was carried out with the ADAMS software to verify the safety of the climbing robot after adjusting the size of the permanent magnet, thus revealing that the size of the permanent magnet adsorption foot can safely climb on the derrick without overturning.
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表 3 NdFeB N35性能参数
剩磁Br/T 矫顽力Hcb/(A·m) 最大磁能积/(kJ·m-3) 内禀矫顽力/(kA·m-1) 最高工作温度/℃ 1.17~1.12 860~907 279 ≥955 80 
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