模块化作业爬壁机器人设计与分析  

Design and Experiment of Modular Wall-climbing Robot

作　　者：杜小禹 杨培[1] 张明路[1] 刘文翰 孙凌宇[1] DU Xiaoyu;YANG Pei;ZHANG Minglu;LIU Wenhan;SUN Lingyu(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300401,China)

机构地区：[1]河北工业大学机械工程学院,天津300401

出　　处：《机械科学与技术》2024年第7期1180-1188,共9页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家重点研发计划(2018YFB1309400);河北省自然科学基金项目(E2021202032);河北工业大学学科交叉方向研究生培养项目(HEBUT-Y-XKJC-2021119)。

摘　　要：为解决传统爬壁机器人在海上风电塔筒立面的作业效率低下和吸附力不足问题,根据模块化设计方法,提出一种可同时用于表面漆膜检测及运维的模块化履带式爬壁机器人。本文详细介绍作业机器人的结构组成及原理,为防止机器人发生滑落和倾覆现象,对其进行力学分析;构建间隙式永磁吸附模型,利用Maxwell软件与传统磁路设计进行参数化仿真对比,并分析气隙和壁厚对机器人吸附力的影响;通过样机平台模拟实验和真实作业,表明机器人能以稳定运动姿态实现塔筒高空及水下作业,验证了其模块化作业的可行性,并同时具备较强的吸附能力和越障能力。In order to solve the low efficiency and insufficient adsorption capacity of traditional wall-climbing robot in offshore wind power tower facade,a modular crawler wall-climbing robot was proposed based on the modular design method,which can be used for surface paint film detection and operation and maintenance.The structure and principle of the working robot in detail is introduced.In order to prevent the robot from slipping and overturning,the mechanical analysis is carried out.A gap-type permanent magnet adsorption model was established,and Maxwell software was used to make parametric simulation comparison with traditional magnetic circuit design,and the effects of the air gap and wall thickness on the robot adsorption force were analyzed.The simulation experiment and real operation of the prototype platform show that the robot can realize the high-altitude and underwater operation of the tower with a stable motion posture,which verifies the feasibility of its modular operation,and has strong adsorption capacity and obstacle surmounting ability.

关 键 词：爬壁机器人 模块化设计 永磁吸附 

分 类 号：TH692.9[机械工程—机械制造及自动化]