摘要
为解决爬壁机器人在船舶货舱清洗过程中多壁面过渡的问题,该文设计了一种具有壁面自适应能力的磁吸附爬壁机器人,其包括磁吸附机构、自适应清洗机构和行走机构。该文首先通过建立机器人壁面过渡时的力学模型,得到机器人磁吸附力的分布特点,并据此设计出一种弧形磁吸附机构。然后利用ANSYS Maxwell 3D软件对该机构磁吸附力的分布进行优化,以满足壁面过渡的需要;此外,还在机器人前端设计了一种自适应清洗机构,通过对该机构的结构原理进行分析和实验,验证了清洗机构也具有壁面过渡能力。最后通过模拟船舶货舱壁面的实际特点,对机器人样机进行壁面过渡综合实验,完成了机器人舱底过渡行走实验和舱顶过渡行走实验,验证了该机器人的壁面自适应和舱内行走的能力。
In order to solve the difficulty of multi-wall transition in the cleaning process of ship cargo hold,a magnetic adsorption wall-climbing robot with adaptive ability to wall is designed in this paper,which includes magnetic adsorption mechanism,adaptive cleaning mechanism and walking mechanism.Firstly,a mechanical model of the robot in the process of wall transition is established to obtain the distribution characteristics of magnetic adsorption force and a magnetic adsorption mechanism is designed.Secondly,ANSYS Maxwell 3D software is used to optimize the distribution of magnetic adsorption force of the mechanism to meet the needs of wall transition.An adaptive cleaning mechanism is designed in the head of the robot,and the wall transition ability of the cleaning mechanism is verified by experiments.Finally,the robot prototype is tested according to the actual characteristics of cargo hold wall.Experiments show that the wall-climbing robot can complete the transition process between the bilge and the roof of the cargo hold,which verifies the robot’s ability to adapt to the wall and walk in the cabin.
作者
陈建坤
何凯
方海涛
CHEN Jiankun;HE Kai;FANG Haitao(Shenzhen Institute of Advanced Technology,Chinese Academy of Sciences,Shenzhen 518055,China;University of Chinese Academy of Sciences,Beijing 100049,China)
出处
《集成技术》
2022年第4期19-30,共12页
Journal of Integration Technology
基金
国家重点研发计划项目(2018YFB1309403)。
关键词
爬壁机器人
磁吸附
壁面过渡
船舱清洗
磁力仿真
wall-climbing robot
magnetic adsorption
wall transition
cargo hold cleaning
magnetic simulation
作者简介
陈建坤,硕士研究生,研究方向为爬壁机器人和永磁吸附技术;通讯作者:何凯,教授级高级工程师,研究方向为精密制造与自动化技术,E-mail:kai.he@siat.ac.cn;方海涛,高级工程师,机电系统自动化和嵌入式实时Linux应用。
