Adsorption Unit Optimization And Control System Design Of Large-scale Facade Maintenance Robot For Ships And Marine Engineering Equipment

Since the new century,the marine engineering equipment industry has entered a period of rapid development,and a large number of marine engineering equipment and facilities are being constructed and put into use worldwide.The strong corrosivity of marine environment is a key technical problem that marine engineering must face.In order to ensure the normal operation of these marine engineering equipment,these tasks have been completed manually for many years,whether it is spray rust prevention in the initial construction stage or regular inspection and derusting afterwards.Therefore,this paper designs a kind of environmentally friendly large-scale facade maintenance robot which can improve the working efficiency and working conditions,and then replace the artificial scaffold operation.Based on the analysis of the existing research on wall climbing robot technology at home and abroad,the design index of large-scale facade maintenance robot is put forward.According to this,the design of permanent magnet adsorption unit structure and two kinds of magnetic circuit,adaptive double track walking mechanism and cleaning spray system of the robot are completed.Finally,the adsorption stability of the robot is analyzed,and the minimum allowable use of the adsorption unit is calculated Adsorption force.In order to improve the dead load ratio of the robot,the structural parameters of the two magnetic circuit structures are optimized.Firstly,the adsorption force model of the adsorption unit is established,and the most critical factors affecting the adsorption force of the two magnetic circuit structures are obtained by using the finite element analysis.Finally,the multi parameter optimization design is carried out by using the equal volume method and particle swarm optimization algorithm respectively,and the optimal structural parameters of the two magnetic circuit structures are obtained by comparing the advantages of the two methods.According to the working mode and characteristics of the large facade maintenance robot,a complete control system scheme of the robot is designed.According to the performance requirements of the robot,in terms of hardware,the controller,amplifier,sensor and humancomputer interactive touch screen are selected,and the power scheme of the whole control system is designed for the application scenario of the robot;the servo control technology of the robot is studied,the valve control motor speed regulation model is established and simulated;the human-computer interactive touch screen and PLC are completed Software design and development.Four kinds of adsorption units before and after optimization are tested for real adsorption force and air gap effect on adsorption force.The similarities and differences between the test and simulation are compared,the reasons for the differences are analyzed,and the usability of the optimized adsorption unit is verified.The kinematic performance test and sealing performance test are carried out for the first generation of wall-climbing robot with new control system to verify the robot The actual movement performance index and sealing performance index.