油脂类罐体壁清刮机器人的力学仿真分析

Mechanical Simulation Analysis of Cleaning and Scraping Robot for Grease Tank Wall

针对爬壁机器人清洗油罐的问题,设计了一种油脂类罐体壁清刮机器人。对爬壁机器人进行了力学分析,建立了机器人不沿壁面下滑及倾覆脱落两种情况下的力学模型,得到了爬壁机器人在壁面运行时的安全吸附力。利用Ansoft有限元仿真软件分析了磁吸附装置与壁面间距离对吸附力大小的影响,结果表明仿真得到的与理论计算的临界吸附力大小基本吻合,可满足正常工况的要求。

Aiming at the problem of wall-climbing robots cleaning grease tanks,a grease tank wall cleaning and scraping robot is designed.The mechanical analysis of the wall-climbing robot is carried out,and the mechanical models of the robot not sliding along the wall surface and falling off are established,and the safe adsorption force of the wall-climbing robot when running on the wall surface is obtained.Ansoft finite element simulation software was used to analyze the influence of the distance between the magnetic adsorption device and the wall on the adsorption force.The results show that the critical adsorption force obtained by the simulation is basically consistent with the theoretical calculation,which meets the requirements of normal working conditions.