| The wall-climbing robot is a kind of special robot, because it has a simple structure, largeload capacity, high reliability, strong ability to adapt to the permeability of the wall, etc.,so itis widely used in ships, cranes, petrochemical and other industries to check and maintain. Inorder to move and work on the surface of permeability wall, a kind of the permanent magneticadsorption climbing robot needs to be designed. The main work is as follows:Firstly, on the basis of fully understanding the climbing robot technology, combining thecharacteristics of the capabilities and requirements about the permanent magnet adsorptionrobot, we presented a robot principle schemes design which uses permanent magneticadsorption, chain drive and stepper motor driven.Secondly, in view of the permeability surface characteristics, the modules of thepermanent magnetic adsorption of the robot, the caterpillar transmission and the motor driveare built, and the assembly drawing design and3D modeling of mechanical system are alsocompleted. And the foundation for the design of the adsorption model of the PermanentMagnetic Wall-climbing Robot is laid.Then, based on the permanent magnetic adsorption model, a reasonable boss unenclosedmagnetic adsorption unit was designed. Then the adsorption unit of magnetic field is analyzedby the application of finite element analysis software ANSYS13.0. From that it obtained theeffects of magnetic field distribution and the structural parameters of the magnetic adsorptionforce, resulting in the optimum structural parametersFinally, the different state of force analysis carried out about the wall-climbing robot andstudied various possible overturning form. The acceleration and velocity characteristics of therobot are tested with simulation by Simulink, providing a theoretical basis for the smoothmovement of magnetic adsorption robot. Through the analysis of the motion simulation,verified the feasibility of the mechanical structure design and its movement achieved. |
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