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Investigation on the Effect of the Tension Degree of Tracks on the Adsorption Performance of Tracked Wall Climbing Robot
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作者 Shun Xiao Guangping He +3 位作者 Jiejian Di Jie Zhang Zhonghai Zhang Lin Zhou 《Journal of Harbin Institute of Technology(New Series)》 CAS 2023年第1期52-60,共9页
In this paper,a new tracked wall climbing robot with permanent magnetic units is designed,and the tension degree of robot’s tracks is found to have a significant impact on the robot’s adsorption performance.This tra... In this paper,a new tracked wall climbing robot with permanent magnetic units is designed,and the tension degree of robot’s tracks is found to have a significant impact on the robot’s adsorption performance.This tracked wall climbing robot is a remotely controlled robot.All the control devices can be installed on the robot body.All the permanent magnetic units are arranged on the light track.In order to illustrate the relationship between the tension degree and the adsorption performance,when absorbed on the vertical surface and 180⁃degree inverted surface,the static force analysis of the robot is presented.Finally,experiments were demonstrated to prove that higher tension degree of tracks can make adsorption performance better. 展开更多
关键词 permanent magnetic adsorption TRACK tension degree wall climbing robot
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Adsorption Performance of Sliding Wall-Climbing Robot 被引量:5
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作者 LI Jun GAO Xueshan +3 位作者 FAN Ningjun LI Kejie JIANG Zhihong JIANG Zhijian 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2010年第6期733-741,共9页
Sliding wall-climbing robot (SWCR) is applied worldwide for its continuous motion, however, considerable air leakage causes two problems: great power consumption and big noise, and they constraint the robot's comp... Sliding wall-climbing robot (SWCR) is applied worldwide for its continuous motion, however, considerable air leakage causes two problems: great power consumption and big noise, and they constraint the robot's comprehensive performance. So far, effective theoretical model is still lacked to solve the problems. The concept of SWCR's adsorption performance is presented, and the techniques of improving utilization rate of given adsorption force and utilization rate of power are studied respectively to improve SWCR's adsorption performance. The effect of locomotion mechanism selection and seal's pressure allocation upon utilization rate of given adsorption force is discussed, and the theoretical way for relevant parameters optimization are provided. The directions for improving utilization rate of power are pointed out based on the detail analysis results of suction system's thermodynamics and hydrodynamics. On this condition, a design method for SWCR-specific impeller is presented, which shows how the impeller's key parameters impact its aerodynamic performance with the aid of computational fluid dynamics (CFD) simulations. The robot prototype, BIT Climber, is developed, and its functions such as mobility, adaptability on wall surface, payload, obstacle ability and wall surface inspection are tested. Through the experiments for the adhesion performance of the robot adsorption system on the normal wall surface, at the impeller's rated rotating speed, the total adsorption force can reach 237.2 N, the average effective negative pressure is 3.02 kPa and the design error is 3.8% only, which indicates a high efficiency. Furthermore, it is found that the robot suction system's static pressure efficiency reaches 84% and utilization rate of adsorption force 81% by the experiment. This thermodynamics model and SWCR-specific impeller design method can effectively improve SWCR's adsorption performance and expand this robot applicability on the various walls. A sliding wall-climbing robot with high adhesion efficiency is developed, and this robot has the features of light body in weight, small size in structure and good capability in payload. 展开更多
关键词 wall-climbing robot adsorption performance centrifugal impeller CFD simulation
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The Kinematics and Force Analysis of a New Leg Mechanism for Multi-legged Wall-Climbing Robot
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作者 Luo Yi Qian Jinwu Shen Yaozong Gong Zhenbang (School of Mechanical and Electronic Engineering) 《Advances in Manufacturing》 SCIE CAS 1998年第1期52-56,共5页
This paper presents a new kind of leg mechanism with which the wall climbing robot can easily perform the ground to wall transition by itself.To get its walking envelope and limit position,the forward/inverse kinem... This paper presents a new kind of leg mechanism with which the wall climbing robot can easily perform the ground to wall transition by itself.To get its walking envelope and limit position,the forward/inverse kinematics and the statics of the mechanism are solved.All of these lay the foundation for ground to wall transition gait programing,mechanism parameter selection and optimization. 展开更多
关键词 wall climbing robot leg mechanism KINEMATICS STATICS
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PERFORMANCE OF A KIND OF PERMANENT MAGNETICSUCKERSUSED IN WALL- CLIMBING ROBOTS
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作者 仝建刚 马培荪 +1 位作者 包志军 陈俊梅 《Journal of Shanghai Jiaotong university(Science)》 EI 2000年第2期42-46,共5页
The magnetic circuit of a kind of permanent magnetic sucker attached to the tracks of a wall climbing robot was researched. The formula of the attractive force of sucker to a wall was derived and the relationship betw... The magnetic circuit of a kind of permanent magnetic sucker attached to the tracks of a wall climbing robot was researched. The formula of the attractive force of sucker to a wall was derived and the relationship between the force and the air gaps was analyzed. Furthermore the effect of the parameters of the magnetic sucker on the sucker’s performance was discussed. The experiments show that proper selections of the sucker’s structural parameters can provide sufficient attractive force so as to make the wall climbing robot move safely on the steel wall surface. 展开更多
关键词 permanent MAGNETIC SUCKER ATTRACTIVE force MAGNETIC circuit wall climbing robot Document code:A
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Wall-climbing Robot with Negative Pressure Sucker Used for Cleaning Work
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作者 赵言正 《High Technology Letters》 EI CAS 1999年第2期85-88,共4页
The Wall climbing Robot is a kind of robot used in extremely hazardous environment, which has very widely use. In this paper, we introduced a new kind of wall climbing robot, which are used in cleaning work. It was de... The Wall climbing Robot is a kind of robot used in extremely hazardous environment, which has very widely use. In this paper, we introduced a new kind of wall climbing robot, which are used in cleaning work. It was designed with single sucker and special designed sealing mechanism, which can be used to do cleaning work on ceramic and glasses surface of high buildings(about 70 meters). 展开更多
关键词 wall climbing robot NEGATIVE pressure SUCKER Power line CARRIER
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Fault detection and identification based on combining logic and model in a wall-climbing robot
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作者 Yong JIANG Hongguang WANG +1 位作者 Lijin FANG Mingyang ZHAO 《控制理论与应用(英文版)》 EI 2009年第2期157-162,共6页
A combined logic- and model-based approach to fault detection and identification (FDI) in a suction foot control system of a wall-climbing robot is presented in this paper. For the control system, some fault models ... A combined logic- and model-based approach to fault detection and identification (FDI) in a suction foot control system of a wall-climbing robot is presented in this paper. For the control system, some fault models are derived by kinematics analysis. Moreover, the logic relations of the system states are known in advance. First, a fault tree is used to analyze the system by evaluating the basic events (elementary causes), which can lead to a root event (a particular fault). Then, a multiple-model adaptive estimation algorithm is used to detect and identify the model-known faults. Finally, based on the system states of the robot and the results of the estimation, the model-unknown faults are also identified using logical reasoning. Experiments show that the proposed approach based on the combination of logical reasoning and model estimating is efficient in the FDI of the robot. 展开更多
关键词 FDI Fault tree Model estimation Logic reasoning wall-climbing robot
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On Transit Gait Programming of Six-legged Wall-climbing Robot
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作者 钱晋武 龚振邦 张启先 《Advances in Manufacturing》 SCIE CAS 1997年第1期42-47,共6页
Transit gait programming is a key problem for a multi-legged robot to climb automatically from the ground up the wall, as well as between wall intersections. In this paper, a new idea is put forward by which the compl... Transit gait programming is a key problem for a multi-legged robot to climb automatically from the ground up the wall, as well as between wall intersections. In this paper, a new idea is put forward by which the complex transit gait is decomposed into a sequence of two relatively simpler parts - single-leg motion and body pitching motion. An algorithm based on the above concept shows its feasibility and effectiveness in the graphic kinematics simulation. 展开更多
关键词 wall-climbing robot. ground-to-wall transit gait kinematics simulation gait programming
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Research on Alternatively Moving Vacuum Absorbing Wall-climbing Robot
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作者 姜洪源 李曙生 +2 位作者 潘沛霖 昌先国 高学山 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 1999年第1期8-13,共6页
In conection with the complex working-surroundings of the wall-climbing Robot, this paper researched akind of alternatively moving mechanism with good obstacle-surmounting ability and high moving speed, making use oft... In conection with the complex working-surroundings of the wall-climbing Robot, this paper researched akind of alternatively moving mechanism with good obstacle-surmounting ability and high moving speed, making use ofthe thought of bionics. This paper designed a kind of self-adjusting multi-vacuum sucker. Furthermore, it employedthe theory of vacuum system to establish the work mathematics madel of control switch to are sucking disc and presented the design parameter of the control switch. In addition, this paper made use of the thought of bionics to design aobstacle-surmounting mechanism used in wall-climbing robot. Also it employed the theory Of robotics to analyze the kinematics and the dynamics movement of die robot. 展开更多
关键词 Altermatively MOVING MECHANISM wall-climbing robot SELF-ADJUSTING multi-vacuum SUCKER obstaclesurmounting MECHANISM
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High-performance wall-climbingrobot for inspection and maintenance
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作者 邵洁 高学山 +4 位作者 戴福全 宗成国 白阳 郭文增 李军 《Journal of Beijing Institute of Technology》 EI CAS 2014年第3期383-389,共7页
A wall-climbing robot that can continuously work on many types of wall surfaces has been developed. This robot based on low-vacuum adsorption principle consists of a locomotion mecha- nism, a sealing device, a fluid m... A wall-climbing robot that can continuously work on many types of wall surfaces has been developed. This robot based on low-vacuum adsorption principle consists of a locomotion mecha- nism, a sealing device, a fluid machine and a detecting system. The adsorption force is analyzed in details and its influencing factors are given. The robot prototype, which has the features of high ad- hesion efficiency, light body in weight, small size in structure and good capability in payload, is test- ed in outdoor and indoor environments. Through the experiments, the influences of the impeller slit and the seal clearance are discussed. In addition, the robot functions such as adsorption perform- ance, locomotion performance and wall adaptability are tested by experiments. The experiments have verified that the robot not only can climb on many types of wall surfaces, but also has outstand- ing locomotion ability and payload capacity. 展开更多
关键词 wall-climbing robot low-vacuum adsorption adsorption force impeller slit seal clear-ance
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Critical Suction Characteristic Analyses of a Wall Climbing Robot 被引量:2
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作者 徐代君 高学山 +3 位作者 吴晓兵 范宁军 李科杰 朱炜 《Journal of Beijing Institute of Technology》 EI CAS 2007年第2期135-139,共5页
A new method called critical suction is used based on the wall climbing robot demands of miniature structure, moving smartly and low noise. It makes the robot achieve the homeostasis state in the suction cup, and in t... A new method called critical suction is used based on the wall climbing robot demands of miniature structure, moving smartly and low noise. It makes the robot achieve the homeostasis state in the suction cup, and in this condition the robot can stay on the wall reliably and move smartly. The fluid mechanics model and fluid network model are set up to analyze the robot suction system when the airflow is steady or changes suddenly. Furthermore, simulation results indicate the close relation between the key parameters of robot structure and the suction system. Finally the method of critical suction proves correct in theory. 展开更多
关键词 wall climbing robot critical suction fluid mechanics fluid network
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On Maximal Weight Moment and Overturn Tendency of Multi-Sucker Wall-Climbing Mechanism 被引量:1
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作者 Qian Jinwu Gong Zhenbang (School of Mechanical and Electronic Engineering, Shanghai University) Zhang Qixian (Beijing University of Aeronautics and Astronautics) 《Advances in Manufacturing》 SCIE CAS 1999年第2期64-68,共5页
For a multi legged robot climbing on a vertical wall, how to increase its anti overturn capacity (AOC) and to detect overturn tendency are most important. They form the basis of off/on line gait programming and saf... For a multi legged robot climbing on a vertical wall, how to increase its anti overturn capacity (AOC) and to detect overturn tendency are most important. They form the basis of off/on line gait programming and safety monitoring system. In the paper, after investigating the indeterminate statics of an insect like six legged wall climbing mechanism in various support patterns, the authors obtained the analytical expressions of maximal weight moment with respect to different support patterns, and the overturn tendency while payload was increased. As a side product, the authors find an unusual phenomenon governing the relationship between the robot's AOC and the number of functioning suckers, which is explained theoretically by distributed mass spring statics model. 展开更多
关键词 robot wall climbing mechanism load capacity STATICS
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Research on adsorption mechanism of wall climbing robots based on internally balanced theory 被引量:2
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作者 樊继壮 朱延河 +1 位作者 赵杰 蔡鹤皋 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2007年第3期423-427,共5页
The internally balanced theory proposed by the Japanese researchers,solved the contradiction between adsorption ability and moving capability of the permanent magnetic adsorption mechanism.However,it still has some pr... The internally balanced theory proposed by the Japanese researchers,solved the contradiction between adsorption ability and moving capability of the permanent magnetic adsorption mechanism.However,it still has some problems when applied to wall climbing robots.This paper analyzes and improves this theory,and the improved internally balanced theory satisfies the requirements of the adsorption mechanism significantly.Finally,a practical prototype is proposed based on this method,and both the analysis using ANSYS and the experiment results justify the design validity. 展开更多
关键词 permanent magnetic adsorption wall climbing robots internally balanced magnet theory adsorption mechanism
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A Wall Climbing Robot with Two Driven Wheels
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作者 门广亮 《High Technology Letters》 EI CAS 1995年第2期36-38,共3页
A wall climbing robot with two driven wheels and single adhering disk is introduced in this paper. The robot has a compact structure and can be controlled flexibly. This kind of robot will have a wide prospect for app... A wall climbing robot with two driven wheels and single adhering disk is introduced in this paper. The robot has a compact structure and can be controlled flexibly. This kind of robot will have a wide prospect for application. 展开更多
关键词 wall climbing robot Single adheslve TWO DRIVEN WHEELS
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Design and motion control analysis of double helix wall climbing robot
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作者 Jinzhan WANG Minglu CHI +6 位作者 Yue MA Qinchao REN Mengqing HUANG Yibo CHEN Ruihua REN Jinyu WANG Si LIU 《Mechanical Engineering Science》 2022年第1期27-34,共8页
For the detection environment of complex walls such as high-rise buildings,a double helix wall climbing robot(DHWCR)with strong adsorption force and good stability is designed and developed,which uses symmetrical prop... For the detection environment of complex walls such as high-rise buildings,a double helix wall climbing robot(DHWCR)with strong adsorption force and good stability is designed and developed,which uses symmetrical propellers to provide adsorption force.The symmetrical driving structure can provide smooth thrust for the DHWCR,so that the robot can be absorbed to the wall surface with different roughness.A left and right control frame with multiple degrees of freedom is designed,which can adjust the fixed position of the brushless propeller motor in the front and back directions,realize the continuous adjustable thrust direction of the robot,and improve the flexibility of the robot movement.Using the front wheel steering mechanism with universal joint,the steering control of the DHWCR is realized by differential control.In the vertical to ground transition,the front and rear brushless motors can provide the pull up and oblique thrust,so that the DHWCR can smoothly transition to the vertical wall.The motion performance and adaptability of the DHWCR in the horizontal ground and vertical wall environment are tested.The results show that the DHWCR can switch motion between the horizontal ground and vertical wall,and can stably adsorb on the vertical wall with flexible attitude control.The DHWCR can move at a fast speed.The speed on the horizontal ground is higher than that on the vertical wall,which verifies the feasibility and reliability of the DHWCR moving stably on the vertical wall. 展开更多
关键词 Double helix wall climbing robot Reverse thrust adsorption Structural design Motion control
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新型4-RRPS爬壁机器人及风电塔筒运行环境下的稳定性分析
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作者 马铁强 崔晓森 +1 位作者 杨慧生 郑崟 《机械管理开发》 2024年第2期1-4,共4页
在风电机组运维领域中的运维爬壁机器人大多属于特级高处作业,根据特级高处作业特点,爬壁机器人的作业安全性尤为重要,而稳定性是安全性的必要条件。以4-RRPS构型爬壁机器人吸附在塔筒壁面时为分析工况,以吸附力为分析切入点,展开其相... 在风电机组运维领域中的运维爬壁机器人大多属于特级高处作业,根据特级高处作业特点,爬壁机器人的作业安全性尤为重要,而稳定性是安全性的必要条件。以4-RRPS构型爬壁机器人吸附在塔筒壁面时为分析工况,以吸附力为分析切入点,展开其相关稳定性研究与分析工作。具体包括结构整体在极限倾覆和滑落工况下的最小吸附力分析、单腿抬举运动所需最小推力分析、结构整体的静态稳定裕度分析、携载平台三种工况运动稳定性分析,最终证明该爬壁机器人具备运动平稳性。 展开更多
关键词 4-RRPS爬壁机器人 风电塔筒 吸附力 稳定性分析
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爬壁机器人磁吸附模块设计分析与结构参数优化
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作者 杨培 张明路 孙凌宇 《工程设计学报》 CSCD 北大核心 2024年第5期592-602,共11页
作为磁吸附式爬壁机器人的关键部件,磁吸附模块的结构通常会影响机器人的整体质量及吸附稳定性。针对磁吸附模块磁路耦合关系复杂、优化设计困难等问题,结合虚拟仿真技术、代理模型和蜣螂优化算法提出了一种磁吸附模块结构优化方法,以... 作为磁吸附式爬壁机器人的关键部件,磁吸附模块的结构通常会影响机器人的整体质量及吸附稳定性。针对磁吸附模块磁路耦合关系复杂、优化设计困难等问题,结合虚拟仿真技术、代理模型和蜣螂优化算法提出了一种磁吸附模块结构优化方法,以提高其磁力计算和优化设计过程的效率。首先,介绍了爬壁机器人的结构设计方案,并通过对现有的Halbach阵列磁路模式进行仿真分析,确定了三磁路模式具有相对较高的吸附效率;同时,基于初设参数对磁吸附模块磁力仿真模型进行了实验验证,为后续代理模型的建立奠定了基础。然后,建立了以机器人吸附稳定性和结构参数为约束、以磁吸附模块轻量化为目标的优化模型。采用最优拉丁超立方设计、ANSYS参数化建模以及代理模型技术建立了磁吸附模块磁力与结构参数之间的四阶响应面模型,并对其可信度进行了验证。利用蜣螂优化算法对磁吸附模块的结构参数优化模型进行了求解。结果表明,所建立的代理模型的预测误差很小,能够较好地表征磁吸附模块磁力与结构参数之间的关系;优化后磁吸附模块的质量减小了12.7%。最后,通过机器人负载实验验证了优化过程的正确性。研究结果可为其他磁吸附式机器人的磁力分析与结构优化提供参考。 展开更多
关键词 爬壁机器人 磁吸附模块 代理模型 参数优化 磁路仿真分析
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轮足复合式爬壁机器人研究综述
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作者 张明路 李享 +1 位作者 高春艳 李满宏 《科学技术与工程》 北大核心 2024年第13期5249-5258,共10页
当前轮足复合式机器人机构主要包含轮足结合、分离复合以及变形轮足,分别能够实现不同障碍通道的移动作业、复杂未知环境的探索操作以及突发应急救援等应用。然而,针对船舶、压力储罐等金属立面环境,轮足复合式爬壁机器人必须兼具壁面... 当前轮足复合式机器人机构主要包含轮足结合、分离复合以及变形轮足,分别能够实现不同障碍通道的移动作业、复杂未知环境的探索操作以及突发应急救援等应用。然而,针对船舶、压力储罐等金属立面环境,轮足复合式爬壁机器人必须兼具壁面适应、越障和壁面过渡的全位置自主作业能力,应用于壁面焊接、清洗、检测等作业任务。对比分析当前的国内外研究,轮足复合式爬壁机器人针对在垂直和倾斜壁面的工程应用有良好的适用性,它具备适应复杂曲面工作面的能力,并能够应对非结构化工作场景。轮足复合式爬壁结构在应对曲率变化、非结构化壁面等工作将会有良好的应用前景。 展开更多
关键词 轮足复合式爬壁机器人 复合机构 越障 复杂曲面
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船用环保型爬壁喷漆机器人的设计及应用
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作者 王冲 黄林 +2 位作者 鲁夏阳 熊元元 陈东 《船舶工程》 CSCD 北大核心 2024年第6期157-162,共6页
为提升船舶外板的喷涂作业效率,解决喷涂过程中因漆雾和挥发性有机化合物(VOCs)的产生而造成环境污染的问题,设计一种自带VOCs和漆雾回收模块的爬壁式喷漆机器人。介绍该爬壁式喷漆机器人的结构和工作原理并对其进行受力分析,防止机器... 为提升船舶外板的喷涂作业效率,解决喷涂过程中因漆雾和挥发性有机化合物(VOCs)的产生而造成环境污染的问题,设计一种自带VOCs和漆雾回收模块的爬壁式喷漆机器人。介绍该爬壁式喷漆机器人的结构和工作原理并对其进行受力分析,防止机器人作业过程中发生打滑和倾覆的失效形式,同时采用Maxwell软件针对永磁体与工作壁面之间的间隙大小对吸附力的影响进行仿真分析。通过Adams虚拟样机仿真软件分析并制作该型机器人样机,开展验证试验。结果表明,该爬壁式喷漆机器人能以稳定姿态在船舶外板上喷漆作业,具有VOCs和漆雾回收功能。 展开更多
关键词 爬壁式喷漆机器人 挥发性有机化合物回收 永磁吸附
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船用机器人爬壁平台研究进展
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作者 张永杰 张诺 +1 位作者 杨振 胡小才 《应用力学学报》 CAS CSCD 北大核心 2024年第1期25-35,共11页
船舶爬壁机器人与陆地机器人的不同之处在于其兼具移动和吸附功能,能够于倾斜的船舶壁面上完成爬壁运动,通过配备除锈、清洗、焊接所需的高压水枪、焊枪、图像识别等装置完成对应作业任务,每种作业任务需要的运动机械结构和运行方式也... 船舶爬壁机器人与陆地机器人的不同之处在于其兼具移动和吸附功能,能够于倾斜的船舶壁面上完成爬壁运动,通过配备除锈、清洗、焊接所需的高压水枪、焊枪、图像识别等装置完成对应作业任务,每种作业任务需要的运动机械结构和运行方式也有不同。通过介绍近年来设计制造的爬壁机器人及其爬壁平台,按照其吸附原理和运动特点将其分为磁吸附、负压吸附和仿生类等爬壁平台设计方法,介绍了各类爬壁平台的机械结构设计、运动性能和适用范围,期望能够为未来船用机器人的设计制造和技术发展提供灵感。 展开更多
关键词 船舶 吸附移动 爬壁式机器人 仿真吸附 技术综述
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门式起重机巡检机器人强风作业稳定性分析
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作者 刘俊 朱智雄 《安全与环境学报》 CAS CSCD 北大核心 2024年第11期4270-4278,共9页
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(Comp... 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。 展开更多
关键词 安全工程 爬壁机器人 门式起重机 计算流体力学(CFD) 现场实测
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