船舶喷砂除锈爬壁式机器人设计

Design of Wall-climbing Robot for Ship Sand Blasting and Rust Removing

设计一种船舶喷砂除锈爬壁式机器人,以代替人工高空除锈作业。通过静力分析仿真,确定负载、单个磁吸附单元磁力与壁面角度之间的关系,以及保证不下滑和不翻转的最大负载。通过动力分析仿真,确定电机及减速器输出的最小转矩。根据仿真结果研制爬壁机器人样机,结果显示,该机可在各工况下运作,且能爬越10 mm高的障碍,满足工作要求。

A kind of ship sand blasting and rust removing wall-climbing robot is designed,which is used to replace the artificial high-altitude derusting operation.Through the simulation of static analysis,the relationship between the magnetic force,magnetic force of single magnetic adsorption unit and wall angle is determined.The maximum load to ensure no slippage and no rollover.Through the simulation of dynamic analysis,the minimum torque output of the motor and reducer is determined.According to the simulation results,a wall-climbing robot prototype is developed.The machine can perform operation under load requirements and can climb over obstacles of 10 mm height,which can meet the job requirements.