非磁性球形壁面爬壁机器人的结构设计  

Structural Design of Nonmagnetic Spherical-wall-climbing Robot

作　　者：李鑫[1] 张文志[1] 邓杰 陈楷 Li Xin;Zhang Wenzhi;Deng Jie

机构地区：[1]内蒙古工业大学

出　　处：《工程机械》2024年第5期61-66,I0014,共7页Construction Machinery and Equipment

摘　　要：针对目前在非导磁材料的球形罐体外壁面进行作业的机器人吸附稳定性低、移动灵活性差、工作周期长等问题,提出一种新型爬壁机器人的结构设计方案;分析爬壁机器人吸附方式、移动方式的优缺点,并提出合适的吸附方案、移动方案;设计一种腿足式负压吸附的四足爬壁机器人的机械结构,利用SolidWorks对关键部件进行力学分析,并使用Adams对机器人的一条腿的工作空间进行仿真分析,证明模型的合理性。In view of the problems of the robots working on the outer wall surface of spherical tanks made of nonmagnetic materials,such as low absorption stability,poor mobility and long working cycle,the structural design of a new wall-climbing robot is proposed.The advantages and disadvantages of the absorption methods and moving methods of the wall-climbing robot are analyzed,and appropriate absorption and moving solutions are put forward.The mechanical structure of a quadruped wall-climbing robot with legfoot negative pressure absorption is designed,solidworks is used for mechanical analysis of key components,and Adams is used for simulation analysis of the workspace of one leg of the robot to prove the rationality of the model.

关 键 词：爬壁机器人 球罐 负压吸附 仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]