一种中小型船舶检测爬壁机器人吸附能力研究  

Research on the Adsorption Capacity of a Wall-Climbing Robot for Detecting Small and Medium-Sized Ships

作　　者：冯玉勇 管殿柱[1] 宋新城 王宪辉 邓皓云 FENG Yuyong;GUAN Dianzhu;SONG Xincheng;WANG Xianhui;DENG Haoyun(College of Mechanical and Electrical Engineering,Qingdao University,Qingdao 266071,China)

机构地区：[1]青岛大学机电工程学院,山东青岛266071

出　　处：《青岛大学学报（工程技术版）》2023年第4期71-75,82,共6页Journal of Qingdao University(Engineering & Technology Edition)

基　　金：国家重点研发计划资助项目(2017YFC140510);中国大洋矿产资源研究开发协会项目(DY135 E2406)。

摘　　要：针对传统船舶维修行业人工劳动量大、维护成本高和环境污染等问题,本文主要对中小型船舶检测爬壁机器人的吸附能力进行研究。设计爬壁机器人的整体结构,并对机器人工作时的力学特性进行分析,提高机器人整体的运动灵活性。为使爬壁机器人保持工作可靠性,对其永磁吸附单元的结构进行设计,模拟与爬壁机器人实际工作相类似的环境,采用Maxwell软件对永磁吸附装置的磁性特征进行仿真分析,并对各构件尺寸参数进行优化设计。仿真结果表明,单元磁块的磁力随宽度和长度呈正比例增长,高度在20mm以下时,呈正比例变化,超过20mm后变化平缓。仿真分析结果表明,爬壁机器人的永磁吸附装置为在船舶壁面上工作提供了足够的吸附力。本文为船舶壁面检测维护机器人的永磁吸附装置设计提供了新思路。In view of the problems of large manual labor,high maintenance cost and environmental pollution in the traditional ship maintenance industry,this paper mainly studies the adsorption ability of a medium and small-sized ship inspection wall-climbing robot.The overall structure of the wall-climbing robot is designed,and the mechanical characteristics of the robot during work are analyzed to improve the flexibility of the robot.In order to ensure the reliability of the wall-climbing robot,the structure of its permanent magnet adsorption unit is designed,and the magnetic characteristics of its permanent magnet adsorption device are simulated by using Maxwell software in an environment similar to the actual work of the wallclimbing robot,and the size parameters of each component are optimized.The simulation results show that the magnetic force of the unit magnet block increases proportionally with its width and length,and changes proportionally with its height below 20 mm,but becomes flat after exceeding 20 mm.According to the analysis of simulation results,the permanent magnet adsorption device of the wall-climbing robot can provide enough adsorption force for its work on the ship hull.This paper provides a new idea and method for the design of permanent magnet adsorption device for ship hull inspection and maintenance robot.

关 键 词：爬壁机器人 永磁吸附装置 力学特性分析 吸附能力 永磁吸附单元 

分 类 号：U661[交通运输工程—船舶及航道工程] TB242.2[交通运输工程—船舶与海洋工程]