Research On Adaptive Permanent Magnetic Adsorption Wall Climbing Robot Technology

There are a number of large storage tanks in the petroleum,petrochemical and other industries that require regular derusting,cleaning,spraying,testing and maintenance.At present,most of these tasks are performed manually,and the manual work has high labor intensity,low safety factor,long time period and low efficiency,and is also greatly affected by the weather and environment.Therefore,there is an urgent need to study wall-climbing robots that can replace manual carrying work tools.In this paper,the research of permanent magnet adsorption wall climbing robot is based on the adjustable structure of the four-link mechanism wheel arm module,which can achieve both wall climbing and pipe climbing operations.The non-contact permanent magnet adsorption adjustable unit is used to achieve stable adsorption to the wall of the iron tank.It is driven by four-wheel Mecanum wheels,which can have a certain obstacle surmounting ability,and realize the flexibility of motion and adaptive adjustment.The paper proposes the technical research route of the wall-climbing robot,the overall structural design plan,and completes the overall structural design.A static model of the wall-climbing robot is established,analyze the instability form of the movement and the magnetic circuit design and mathematical modeling of the adsorption unit.By Using SOLIWORKS software for 3D modeling to perform modal analysis on key structures.By using ADAMS software to build a virtual prototype model,combined with MATLAB software modal to control simulation.The speed curve and positive pressure curve of the driving wheel,and the comparison curve of modal control and non-modal control are obtained.The remote control wall-climbing robot system is established to achieve the established operation.