履带式船舶除锈爬壁机器人关键机构设计

Design on key mechanisms of caterpillar typed shipping rust removal wall climbing robot

研制了一种履带式船舶除锈爬壁机器人。该机器人本体和负载质量较大,对吸附机构的驱动性能要求较高。设计了爬壁机器人吸附机构,选择了磁性材料、确定了磁路结构并实现橡胶封装;设计了爬壁机器人传动机构,选择了传动方式,确定了链条张紧装置;选择了关键驱动部件。样机试验表明,爬壁机器人结构和工艺设计合理,工作状况良好。

A kind of caterpillar typed shipping rust removal wall climbing robot was designed. The masses were rather big for noumenon of robot and loading, and there are higher requirements on the driving performance of absorption mechanism. The absorption mechanism of wall climbing robot was designed, the magnetic materials were selected, the magnetic circuit structure was determined and the rubber sealing packaging was achieved. The transmission mechanism of wall climbing robot was designed, the transmission mode was selected, the chain tightening device was determined and the key driving component was chosen. The experiment of prototype showed that the structure and technological design of the wall climbing robot were reasonable and with a good working situation.