一种基于磁力吸附的储罐爬壁机器人本体设计

doi:10.3969/j.issn.1004-132X.2022.03.003

中国机械工程 ›› 2022, Vol. 33 ›› Issue (03): 270-278.DOI: 10.3969/j.issn.1004-132X.2022.03.003

一种基于磁力吸附的储罐爬壁机器人本体设计

邱仕诚1;伍剑波1;赵恒忠2;王珅1;胡启凡2;颜荣1

1.四川大学机械工程学院，成都，610065
2.泸州市市场检验检测中心，泸州，646000

出版日期:2022-02-10 发布日期:2022-02-21
通讯作者: 伍剑波（通信作者），男，1986年生，教授。研究方向为航空航天、石油行业智能传感原理与仪器装备开发。E-mail:wujianbo@scu.edu.cn。
作者简介:邱仕诚，男，1997年生，硕士研究生。研究方向为超声无损检测、机电装备设计与制造、智能装备控制。E-mail:shicheng_qiu@stu.scu.edu.cn。
基金资助:
国家自然科学基金 (92060114)；
四川大学泸州市人民政府战略合作项目(2019CDLZ-04)；
四川省重大科技专项(2020YFG0090，2021YFG0039， 2020ZDZX0024)

Body Design of a Storage Tank Wall-climbing Robot Based on Magnetic Adsorption

QIU Shicheng1;WU Jianbo1;ZHAO Hengzhong2;WANG Shen1;HU Qifan2;YAN Rong1

1.School of Mechanical Engineering,Sichuan University,Chengdu,610065
2.Luzhou Market Inspection and Testing Center,Luzhou,Sichuan,646000

Online:2022-02-10 Published:2022-02-21

摘要/Abstract

摘要： 对于大型储罐焊缝缺陷自动化检测，爬壁机器人需完成自动化全方位扫查。针对储罐爬壁机器人在不同运行工况下的受力状态，建立爬壁机器人力学模型，分析获得不下滑、不纵向倾覆、不横向侧翻以及复合状态下失稳状态危险点，应用Maxwell软件对永磁吸附轮受力状态进行仿真与优化设计，使之满足吸附要求。同时，设计具有辅助吸附功能的编码轮结构，在反馈位置信息的同时，补充安全吸附力的裕度，以增加其越障和抗失稳能力。最后，依据设计模型制造出爬壁机器人本体并进行测试实验，实验结果证明该机器人能在各种危险点处实现带负载稳定全向驱动运行。

关键词: 储罐焊缝检测, 永磁体吸附, 爬壁机器人, 电磁仿真

Abstract: For the automatic detection of weld defects in large storage tanks, a wall-climbing robot needed to complete automatic omni-directional scanning. Firstly, according to the force state of the wall-climbing robot under different operating conditions, a mechanics model of the wall-climbing robot was established to analyze and obtain the four unstable hazards of non-sliding, non-longitudinal rollover, non-lateral rollover and compound motion state. The force state of the permanent magnet adsorption wheel was simulated and optimized by Maxwell software to meet the adsorption requirements. At the same time, the coding wheel with auxiliary adsorption function was designed to supplement the margin of safe adsorption force while feeding back the position information to increase the obstacle crossing and anti-instability abilities. Finally, according to the design model, the wall-climbing robot body was manufactured and tested. The test results prove that the robot designed herein may realize the omnidirectional driving operations with load stability at various ustable hazards.

Key words: weld inspection of storage tank, permanent magnet adsorption, wall-climbing robot, electromagnetic simulation

中图分类号:

TP242.6

邱仕诚, 伍剑波, 赵恒忠, 王珅, 胡启凡, 颜荣. 一种基于磁力吸附的储罐爬壁机器人本体设计[J]. 中国机械工程, 2022, 33(03): 270-278.

QIU Shicheng, WU Jianbo, ZHAO Hengzhong, WANG Shen, HU Qifan, YAN Rong. Body Design of a Storage Tank Wall-climbing Robot Based on Magnetic Adsorption[J]. China Mechanical Engineering, 2022, 33(03): 270-278.

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http://www.cmemo.org.cn/CN/Y2022/V33/I03/270

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一种基于磁力吸附的储罐爬壁机器人本体设计

Body Design of a Storage Tank Wall-climbing Robot Based on Magnetic Adsorption

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