储罐壁面爬壁机器人吸附结构设计与优化  

Design and Optimization of Storage Tank Wall Climbing Robot Adsorption Structure

作　　者：王佳烽 俞竹青[1] 吕雪 WANG Jia-feng;YU Zhu-qing;LV Xue(School of Mechanical and Rail Transportation,Changzhou University,Changzhou 213164,China)

机构地区：[1]常州大学机械与轨道交通学院,常州213164

出　　处：《自动化与仪表》2022年第9期36-41,56,共7页Automation & Instrumentation

摘　　要：为了解决爬壁机器人在运动过程中由于吸附力不足而产生的倾覆问题,设计了一种具有曲面自适应性的永磁爬壁机器人。该机构区别于以往的爬壁机器人,具备两个方位上的旋转自由度,能够实现永磁吸附结构实时贴合壁面,确保提供稳定可靠的吸附力。在储罐壁面工作情况下,对机器人进行静力学分析,得到其在壁面不发生下滑和倾覆的安全吸附条件,并在此基础上,利用Ansoft Maxwell软件对吸附结构进行了仿真分析和结构优化,并获得了最佳结构尺寸。In order to solve the inclination problem caused by the insufficient adsorption force of the wall-climbing robot in the movement process,a permanent magnet wall-climbing robot with surface adaptability is designed.Different from the previous wall climbing robots,this mechanism has two rotational degrees of freedom in two directions,which can realize the real-time fitting of permanent magnet adsorption structure to the wall and ensure the stable and reliable adsorption force.Under the working condition of the tank wall,the static analysis of the robot was carried out,and the safe adsorption conditions without sliding and tilting on the wall were obtained.On this basis,the adsorption structure was simulated and optimized by Ansoft Maxwell software,and the optimal structure size was obtained.

关 键 词：爬壁机器人 曲面自适应 静力学分析 Ansoft Maxwell仿真优化 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]