喷砂除锈爬壁机器人磁吸附结构优化设计及整机性能试验  

Optimum design of magnetic adsorption structure and machine performance test for sand blasting and rust-removing wall-climbing robot

作　　者：赵军友[1] 张亚宁 毕晓东 闫成新[1] 董亚飞 ZHAO Junyou;ZHANG Yaning;BI Xiaodong;YAN Chengxin;DONG Yafei(College of Mechanical and Electrical Engineering in China University of Petroleum(East China),Qingdao 266580,China;Weichai Holding Group Company Limited,Weifang 261000,China)

机构地区：[1]中国石油大学(华东)机电工程学院,山东青岛266580 [2]潍柴动力股份有限公司,山东潍坊261000

出　　处：《中国石油大学学报（自然科学版）》2020年第4期94-99,共6页Journal of China University of Petroleum(Edition of Natural Science)

基　　金：工业与信息化部高技术船舶科研项目(MC-201710-H01)。

摘　　要：对爬壁机器人不下滑和不倾覆两种力学模型进行分析,研究磁吸附单元各个尺寸参数对吸附力的贡献关系,在提高吸附力的同时减小磁吸附单元的体积。结果表明:磁吸附单元的吸附力随着磁铁长度增大而增大,由于乙型回路的磁力线主要集中在磁铁的中间和两端,随着磁铁长度的增大利用率降低;磁吸附单元的吸附力随其厚度增加呈抛物线增长,当永磁铁厚度大于宽度的0.6倍时,由于工作面内的磁感应强度趋于饱和,厚度持续增加对吸附力的贡献减小;轭铁板厚度和隔磁板厚度对吸附力有不同程度的影响,存在最佳尺寸;在爬壁机器人最上端设有辅助吸盘,增加抗倾覆力矩,提高爬壁机器人的越障能力。The mechanical models of the wall-climbing robot with outsliding and overturning were analyzed. By studying the contribution of each size parameter of the magnetic adsorption unit to the adsorption force, the volume of the magnetic adsorption unit was reduced while increasing the adsorption force. The results show that the adsorption force of the magnetic adsorption unit increases with the increase of the length of the magnet. Since the magnetic force lines of the B-type circuit are mainly concentrated in the middle and both ends of the magnet, the utilization rate decreases with the increase of the length of the magnet.The adsorption force of the magnetic adsorption unit increases parabolically as its thickness increases. When the thickness of the permanent magnet is bigger than 0.6 times the width, the magnetic induction intensity in the working surface tends to saturate, and the continuous increase in thickness decreases the contribution to the adsorption force. The thickness of the yoke plate and the thickness of the magnetic isolation plate have different effects on the adsorption force, and there is an optimal size value. The upper end of the wall-climbing robot is equipped with an auxiliary suction board, which increases the anti-overturning moment and improves the obstacle-crossing ability of the wall-climbing robot.

关 键 词：油罐喷砂除锈 磁吸附单元 爬壁机器人 参数化仿真 履带 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]