门式起重机巡检机器人强风作业稳定性分析

Stability analysis of inspection robots on gantry cranes during strong wind operations

磁吸附爬壁机器人在代替人工完成造船门式起重机表面缺陷检查过程中,风载荷对机器人的影响不能忽视。以造船门式起重机和爬壁机器人为对象,对突发强阵风下门式起重机的风场特性、爬壁机器人风载稳定性进行了研究。采用计算流体力学(Computational Fluid Dynamics,CFD)及流固耦合分析方法,结合现场实测数据,分析近海风场环境下门式起重机的风压风速分布特征并计算瞬态动力响应;之后,构建爬壁机器人力学稳定性分析模型,得到极限风载条件下的机器人最小磁吸附力阈值条件;最后,开展门式起重机-爬壁机器人风振稳定性分析。结果表明,该爬壁机器人在7级风及以下能够安全作业,并为未来同类型机器人提供吸附安全性设计依据。

The wall-climbing robot offers a viable alternative to manual methods for surface defect detection on gantry cranes.However,during operations at significant heights,wind loads present a substantial environmental challenge affecting the stability of these robots.This study aims to assess the wind-load stability of magnetic adsorption wall-climbing inspection robots under sudden severe gusts,using a shipbuilding gantry crane and wall-climbing robots as focal research subjects.This study employs Computational Fluid Dynamics(CFD)and unidirectional fluid-structure coupling analysis to develop three-dimensional models of wall-climbing inspection robots and gantry cranes.Additionally,a numerical wind tunnel model is constructed to simulate the external flow field around the cranes.The research focuses on evaluating wind pressure distributions on the crane surfaces and wind speed parameters within an offshore wind field environment.Based on average wind response analysis,a coupled model of the gantry crane and wall-climbing robot was established at key wind pressure points(corresponding to wind angles of 300°,240°,and 180°).A transient response analysis of this coupled model was conducted under fluctuating wind conditions lasting 2 seconds.The instantaneous maximum wind load acting on the surface of the robot is determined to be 131.415 N based on maximum wind pressure differences.Mechanical stability analysis under this maximum wind load reveals that a single magnetic wheel requires a minimum adsorption force of 129.102 N.Field measurements are utilized to determine the vibration acceleration at the midpoint of the main beam of the gantry crane structure.A comprehensive wind-vibration stability analysis is conducted on the shipbuilding gantry crane and wall-climbing robot system.This analysis includes comparing the frequency of wind-induced vibrations of the crane with the natural frequency of the wall-climbing robot.The study concludes that the wall-climbing robot can safely operate up to the seventh level of wind force without significant impact from crane vibrations.This finding serves as a basis for future designs ensuring adequate adsorption force safety in similar robotic applications.