机电工程技术2024，Vol.53Issue(5)：113-117,132,6.DOI:10.3969/j.issn.1009-9492.2024.05.025
基于永磁吸附的船体维护爬壁机器人设计
Design of Hull Maintenance Wall Climbing Robot Based on Permanent Magnet Adsorption
摘要
Abstract
In order to develop a wall-climbing robot that can adapt to a large curvature working environment and has high efficiency,instead of manually derusting and polishing the hull,a wall-climbing robot for hull maintenance is designed and studied.Firstly,the detailed design of the mechanical structure of the wall-climbing robot,which is mainly composed of chassis,grinding head and deformable track,and the functional principle is explained based on the design results.Then,the key components of the adsorption unit and the overall frame structure are verified and calculated by static mechanics and overturning force.Finally,the AC/DC module in the COMSOL finite element analysis software is used to analyze the magnetic adsorption force of the deformed crawler,and the adsorption conditions that meet the safe work of the robot are obtained,the feasibility of using NdFe shed magnet N35 as the adsorption material is determined,and it is clarified that when the maximum thickness of the magnet gasket for vibration isolation and anti-wear is 3 mm,the maximum thickness of a magnet adsorption unit can reach 34.2 N.The research results provide a reference for the development of similar products.关键词
爬壁机器人/船舶除锈/磁吸附单元/永磁式履带Key words
wall-climbing robots/ship rust removal/magnetic adsorption unit/permanent magnet track分类
信息技术与安全科学引用本文复制引用
楼飞,王湘鹤,张翼旺,王为民,张佳怡..基于永磁吸附的船体维护爬壁机器人设计[J].机电工程技术,2024,53(5):113-117,132,6.基金项目
南京师范大学中北学院大学生创新创业项目(2022YJ86011) （2022YJ86011）
