机械科学与技术2024，Vol.43Issue(7)：1180-1188,9.DOI:10.13433/j.cnki.1003-8728.20230041
模块化作业爬壁机器人设计与分析
Design and Experiment of Modular Wall-climbing Robot
摘要
Abstract
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Key words
wall-climbing robot/modular design/permanent magnet adsorption分类
机械制造引用本文复制引用
杜小禹,杨培,张明路,刘文翰,孙凌宇..模块化作业爬壁机器人设计与分析[J].机械科学与技术,2024,43(7):1180-1188,9.基金项目
国家重点研发计划(2018YFB1309400)、河北省自然科学基金项目(E2021202032)及河北工业大学学科交叉方向研究生培养项目(HEBUT-Y-XKJC-2021119) （2018YFB1309400）
