摘要
针对修船作业中船舶壁面的除锈问题,设计了一种单纯采用永磁吸附实现附壁的履带式爬壁机器人,利用其上搭载的高压水射流装置实现除锈。首先,设计的永磁吸附单元由多块永磁体组成,采用Halbach充磁方向布置,单块磁吸附力理论接近1.4 kN;然后,机器人行走方式采用同步链传动、双链条履带结构,使永磁吸附单元可靠稳定的吸附在壁面上,链条的涨紧采用垂直涨紧和水平涨紧相结合的方式,驱动系统采用双电机驱动及锥齿换向结构,同时清污盘与框架的连接采用十字铰接式柔性设计。最后,对制造的永磁吸附单元开展力学实验,对搭建的功能性样机开展水平运动、垂直爬壁和1∶1实船模型爬壁等实验。研究结果表明:制造的单块永磁吸附单元的吸附力可达1 kN,满足机器人抗倾覆要求;功能性样机在爬壁实验中是可以可靠附壁的,同时可实现机器人的行走和转向运动,为后期工程样机积累了实验数据,为机器人进一步优化奠定了基础。
In order to solve the problem of rust removal on ship walls during ship repair,a crawler wall-climbing robot with permanent magnet adsorption is designed,and the high-pressure water jet device mounted on it is used to achieve rust removal.Firstly,the designed permanent magnet adsorption unit is composed of several permanent magnets arranged in Halbach magnetizing direction,and the theory of single magnet adsorption force can reach 1.4kN.Then,the synchronous chain drive and double chain caterpillar structure are used for the robot to enable reliable and stable adsorption on the wall.The chain is tightened by the combination of vertical tightening and horizontal tightening.The drive system is driven by two motors and a tapered teeth commutation structure.At the same time,the connection between the cleaning plate and the frame is designed by cross-articulated flexible design.Finally,mechanical experiments are carried out on the permanent magnet adsorption unit.Horizontal movement,vertical wall climbing and 1:l model wall climbing tests are carried out on the functional prototype.The results show that the single permanent magnet adsorption unit can achieve the adsorption force of lkN,which meets the overturning resistance requirements of the robot.The functional prototype can attach to the wall reliably in the wall-climbing experiment,and can realize the walking and steering movement of the robot at the same time,which accumulates the experimental data for the later engineering prototype and lays a foundation for the further optimization of the robot.
作者
赵飞
姚震球
凌宏杰
王琦
ZHAO Fei;YAO Zhenqiu;LING Hongjie;WANG Qi(School of Electrical and Information,Zhenjiang College,Zhenjiang Jiangsu 212028,China;Institute of Marine Equipment Research,Jiangsu University of Science and Technology,Zhenjiang Jiangsu 212003,China)
出处
《机械设计与研究》
CSCD
北大核心
2023年第5期29-33,共5页
Machine Design And Research
基金
工信部高技术船舶科研项目(MC-202031-Z07)
镇江市产业前瞻与共性关键技术资助项目(GY2020009)。
关键词
爬壁机器人
履带式
永磁吸附
爬壁实验
结构设计
wall-climbing robot
crawler type
permanent magnet adsorption
wall-climbing experiment
structural design
作者简介
通讯作者:赵飞(1981-),男,硕士,高级工程师,现供职镇江市高等专科学校,主要研究方向为机器人及机械手设计,已发表论文27篇,E-mail:zhaofei012353@163.com。
