机器人罐内吸附特性及优化研究  

Optimization of Adsorption Characteristics for Robot Inside Tanks

作　　者：张超群 孟凡召 高硕 Zhang Chaoqun;Meng Fanzhao;Gao Shuo(Shandong Huayu University of Technology,Dezhou 253000,China)

机构地区：[1]山东华宇工学院,山东德州253000

出　　处：《黑龙江科学》2025年第4期68-71,共4页Heilongjiang Science

基　　金：山东华宇工学院2023年大学生创新创业训练计划项目(XZ202313857003)。

摘　　要：机器人采用磁吸附的吸附方式在弧形表面运动时易因吸附力不足而导致下滑和倾覆,由于永磁吸附的不可调节性,机器人在罐内的越障能力较弱。以LPG(liquefied petroleum gas)球罐焊缝检测机器人为研究对象,采用永磁与电磁相结合的吸附方式分析球罐表面对吸附性能的要求,设计机器人磁吸附系统,通过吸附性能仿真验证机器人在球罐内的运动能力。When a robot uses magnetic adhesion,it is prone to slipping and overturning due to insufficient adhesion when moving on curved surfaces.The obstacle-crossing ability of the robot inside the tank is weak because of the non-adjustability of permanent magnet adhesion.The study takes the LPG(liquefied petroleum gas)ball tank welding seam inspection robot as an object;and employs a combination of permanent magnets and electromagnets for adhesion.By analyzing the requirements for adhesion on the surface of the ball tank,the study designs the magnetic adhesion system of the robot,and verifies the motion ability of the robot in the spherical tank by the simulation of adsorption performance.

关 键 词：爬壁机器人 永电磁结合 磁力仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]