Design And Walking Path Planning Of Magnetic Adsorption Crawler Robot In The Cabin

With the acceleration of globalization,the shipbuilding industry has developed rapidly.Welding is an important technology in shipbuilding industry,and its workload accounts for more than 40% of the total shipbuilding volume.Therefore,welding process is very important for ship production and has a significant impact on ship quality,performance,production cycle and production cost.There are many problems in the welding work of ships and other large machinery,such as many welding types,large welding variation,large welding length and large workload.For welders,the strength is great.Long-term high-intensity work not only can not guarantee the quality of work,but also has a great impact on the health of workers.Now the cost of labor is also getting higher and higher,in order to save costs and improve production efficiency,the use of mechanical equipment to replace people is necessary.The crawler-type welding robot designed in this design can replace human beings to complete some simple welding tasks,such as the horizontal and vertical welding of some cabin bottom and wall surfaces,which will liberate more manpower.Firstly,this paper studies the development of wall climbing robot and the application of automatic welding robot.Combining the characteristics of the two kinds of robots and the working environment in the cabin,the paper determined the robot's adsorption mode,movement mode,driving mode,driving mode and obstacle mechanism,and finally determined the main structure design scheme of the robot.Secondly,according to the working conditions of the welding robot in the cabin,the static and dynamic properties of the robot under the conditions of wall adsorption,obstacle jumping and free movement were analyzed,and the minimum magnetic force value under normal working conditions was obtained,which provided a basis for the selection of the following permanent magnets.Thirdly,the magnetic force analysis and simulation of the permanent magnet were carried out with comsol software to study the performance of the adsorption force of the permanent magnet,and the size parameters of the permanent magnet selected in this paper were determined.Finally,this paper carries out a study on the walking path planning of the welding robot in the cabin.According to the working environment and tasks of the robot,a walking path planning method suitable for the welding robot is designed,which enables the welding robot to quickly complete the welding work at any position in the cabin.