大型球罐壁面除漆机器人设计与实验研究  

Design and Experimental Study of a Large Spherical Tank Wall Paint Removal Robot

作　　者：杨怀林 刘春华[2] 陈晓辉[2] 邓贤东 高润智 夏毅 臧红彬[1] Yang Huailin;Liu Chunhua;Chen Xiaohui;Deng Xiandong;Gao Runzhi;Xia Yi;Zang Hongbin(Key Laboratory of Testing Technology for Manufacturing Process of the Ministry of Education,Southwest University of Science and Technology,Mianyang 621010,China;China Aerodynamics Research and Development Center,Mianyang 621000,China)

机构地区：[1]西南科技大学制造过程测试技术省部共建教育部重点实验室,四川绵阳621010 [2]中国空气动力研究与发展中心,四川绵阳621000

出　　处：《机械传动》2024年第1期151-158,共8页Journal of Mechanical Transmission

摘　　要：为解决大型球罐压力容器表面三层高强度环氧漆打磨问题,设计了一款大型球罐壁面除漆机器人,并对其开展了实验研究。机器人主要包括爬壁吸附系统和自适应打磨系统。通过对海尔贝克阵列永磁体研究,仿真分析履带结构永磁体吸附力与工作间隙的关系,研发了一款吸附稳定、越障性能优越的爬壁吸附系统;针对弧形壁面打磨情况,设计了一款基于电流反馈的自适应打磨系统,并分析金属丝打磨辊力学模型,研发多样金属丝打磨辊。对机器人进行测试,打磨效果良好,机器人可以对环氧漆打磨并露出金属光泽,且是人工打磨效率的3~10倍。该研究为球罐高强度环氧漆打磨提供了新打磨工具,保证了打磨质量,提高了打磨效率。In order to solve the problem of polishing three-layer high strength epoxy paint on the surface of large spherical tank pressure vessels,a large spherical tank wall paint removal robot is designed,and the experimental research on it is carried out.The robot mainly includes a wall climbing and adsorption system and an adaptive grinding system.By studying the permanent magnet of Halbach array,the relation between the adsorption force of the permanent magnet of track structure and the working clearance is simulated and analyzed,and a wall climbing adsorption system with stable adsorption and superior obstacle climbing performance is developed.According to the grinding condition of the curved wall,an adaptive grinding system based on current feedback is designed,and various steel wire grinding rollers are developed by analyzing the mechanical model of the steel wire grinding roller.The robot is tested,and the polishing effect is good.The robot can polish the epoxy paint and show the metallic luster,and its efficiency is 3-10 times that of the manual grinding.A new polishing tool is proposed for ball tank high-strength epoxy paint polishing,which ensures the polishing quality and improves the polishing efficiency.

关 键 词：爬壁机器人 永磁吸附 磁力仿真 三层环氧漆打磨 打磨效果 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]