吸附式双履带爬壁机器人过渡壁面爬行运动分析  

Analysis of Transition Wall Crawling Motion of Adsorption Two-Track Wall Climbing Robot

作　　者：沈旭东 钟艳 程楠 吴善强 王斌锐 SHEN Xudong;ZHONG Yan;CHEN Nan;WU Shanqiang;WAN Binrui(China Huadian Corporation Quzhou Wuxijiang branch,Quzhou 324000;College of Mechanical and Electrical Engineering,China Jiliang University,Hangzhou 310018)

机构地区：[1]中国华电集团有限公司衢州乌溪江分公司,衢州324000 [2]中国计量大学机电工程学院,杭州310018

出　　处：《现代制造技术与装备》2024年第10期84-89,共6页Modern Manufacturing Technology and Equipment

基　　金：浙江省“尖兵”“领雁”研发攻关项目“危化品安全生产技术、装备研发及示范应用-石化储运管道和油罐自动安全智能巡检装备研发及示范应用”(2023C03186)。

摘　　要：爬壁机器人的作业环境复杂,通常需要在非单一工作壁面上爬行,而传统的爬壁机器人不能适应曲面、直角和阶梯壁面。为此,提出一种柔性连接的吸附式双履带爬壁机器人,该机器人通过履带增加行走面积,借助永磁吸附防滑移的优势,并将双履带进行柔性连接,成功实现不同壁面的平滑过渡。建立竖直壁面及壁面过渡时的安全吸附数学模型,得到在吸附力作用下使机器人能在垂直壁面上不发生滑落的安全吸附约束。利用SolidWorks建立双履带运动机构的三维模型,并将模型导入ADAMS软件,分析其动力学特性,验证柔性连接的双履带运动控制装置的可靠性。最后,对机器人的壁面过渡能力进行实验验证。所设计的柔性连接双履带式爬壁机器人具有较好的适应多工作壁面的爬行能力,能够为非单一工作壁面的爬行机器人的设计提供理论基础。The working environment of the wall-climbing robot is complex,and it usually needs to crawl on a non-single working wall surface,and the traditional wall-climbing robot can not adapt to the curved surface,right Angle and step wall surface.Therefore,this paper proposes a flexible attachment dual-track wall-climbing robot,which increases the walking area through the track,and makes use of the advantages of permanent magnet adsorption to prevent slippage,and flexibly connects the two tracks to successfully achieve smooth transition of different walls.The mathematical model of the safe adsorption on the vertical wall and the transition of the wall is established,and the safe adsorption constraint that the robot can not slide on the vertical wall under the action of the adsorption force is obtained.The three-dimensional model of the two-track motion mechanism is established by using SolidWorks,and the model is imported into ADAMS software to analyze its dynamic characteristics and verify the reliability of the flexibly connected two-track motion control device.Finally,the wall transition ability of the robot is verified by experiments.The flexible two-track wall-climbing robot designed has a good crawling ability to adapt to multiple working walls,and can provide a theoretical basis for the design of non-single working wall crawling robot.

关 键 词：爬壁机器人 吸附式 壁面过渡 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]