一种基于磁力吸附的焊缝打磨爬壁机器人设计  

Design of Welding Seam Grinding Wall-Climbing Robot Body Based on Magnetic Adsorption

作　　者：董家候 郑甲红[1] 何凯[2] 左启阳[2] DONG Jiahou;ZHENG Jiahong;HE Kai;ZUO Qiyang(College of Mechanical and Electrical Engineering,Shaanxi University of Science and Technology,Xi’an Shaanxi 710021,China;Shenzhen Institute of Advanced Technology,Chinese Academy of Sciences,Shenzhen Guangdong 518055,China)

机构地区：[1]陕西科技大学机电工程学院,陕西西安710021 [2]中国科学院深圳先进技术研究院,广东深圳518055

出　　处：《机床与液压》2023年第3期35-43,共9页Machine Tool & Hydraulics

基　　金：NSFC-深圳机器人基础研究中心项目(U2013204)。

摘　　要：设计一种新型的船体爬壁机器人,用来对大型轮船侧壁的焊缝进行打磨,改变了依靠人力打磨作业的方式,不仅提高了工作效率,而且大大降低了安全事故的发生。该机器人包括行走机构、吸附机构和焊缝打磨执行机构。针对爬壁机器人在不同的极限工况下,建立静力学模型,分析爬壁机器人出现滑移失效、横向倾覆失效、纵向倾覆失效、脱离失效时的极限磁吸附力。使用Ansys Electronics Desktop-Maxwell对永磁体进行仿真和结构优化,使之满足所需的磁吸附力。搭建出样机后,对机器人进行性能测试、磁吸附力测试和焊缝打磨测试。结果表明:该机器人不仅焊缝打磨效果好,而且工作性能稳定。A new type of hull climbing robot was designed to grind the welding seam on the side walls of large ships, by which the way relying on manual grinding operations was changed, not only work efficiency was improved, but also the occurrence of safety accidents was greatly reduced.The robot included a walking mechanism, an adsorption mechanism and a welding seam grinding actuator.A static model was established for the wall-climbing robot under different extreme working conditions, and the limit magnetic adsorption forces of the wall-climbing robot when slip failure, lateral overturning failure, longitudinal overturning failure and detachment failure occur were analyzed.Ansys Electronics Desktop-Maxwell was used to simulate and optimize the structure of the permanent magnet to meet the required magnetic attraction force.After building the prototype, performance test, magnetic adsorption test and weld grinding test were performed on the robot.The results show that the robot not only has good welding seam grinding effect, but also has stable working performance.

关 键 词：爬壁机器人 磁吸附 焊缝打磨 磁力仿真 

分 类 号：TH122[机械工程—机械设计及理论] TP242[自动化与计算机技术—检测技术与自动化装置]