Research On Key Technology Of Wall-climbing Mechanism Applied To Complex Steel Structure Surface

There are abundant mineral resources in the deep sea,which have extremely high commercial mining value.The mining equipment for deep-sea resources is increasing day by day.These equipment have been in sea water for a long time,and the environment is humid,salty,corrosive and has a large number of marine organisms attached.This will seriously affect the efficiency and safety of mining equipment.Therefore,it is necessary to regularly inspect and clean the surface of deep-sea resource mining equipment.Deep-sea resource mining facilities are generally composed of steel structures and have good magnetic permeability.Therefore,the wall surface robots for deep-sea resource mining equipment are mainly magnetic adsorption.However,since magnetic adsorption is very sensitive to the contact between the adsorption unit and the wall,most of the steel structure surface of deep-sea resource mining equipment is not flat,but has a certain curvature of the wall.Therefore,the wall suction robot must be able to adapt to the surface of the steel structure with a certain curvature.Most of the traditional wall robots have a one-piece body and no suspension structure,resulting in insufficient adaptability to the surface of curved steel structures.Aiming at the problem that the magnetic wall-climbing robot is difficult to adapt to the curved steel structure,a design is designed with multiple car bodies connected in series,multiple car bodies can be moved,wheels and car bodies can be relatively mobile,and magnetic adsorption on the wheels The unit can be adapted to the wall-climbing robot with the curved surface of the steel structure.Use the relative movement between the car body,the relative movement of the wheel and the car body,the relative movement of the wheel magnetic adsorption unit and the wheel hub to adapt to the curvature of the steel structure surface;and use a pair of auxiliary wheels to detect the road conditions ahead.The main research contents include: mechanical design of wall-climbing robots with multi-car bodies and self-adapting curved surfaces;mechanical analysis under critical conditions;magnetic field force analysis of magnetically adsorbed wheels and walls;ADAMS virtual prototype motion modeling analysis;virtual assembly and interference detection.After understanding the working environment of the wall-climbing robot,analyze and select the robot's adsorption mode,movement mode and driving mode.Design a multi-car body series mechanism to improve the adaptability,reliability and flexibility of the wall-climbing robot to complex curved surfaces.According to the design of the robot body,the static mechanical analysis model under the three critical conditions of normal separation,rollover and wheel slippage may occur,and the dynamic model of the car body separation under a certain acceleration is established,and the mathematical model is analyzed by MATLAB.The minimum magnetic attraction force that guarantees the wall-climbing robot is obtained.The simulation analysis of the magnetic field of the wall-climbing robot magnetically adsorbing the wheel and the surface of the steel structure is carried out,and the relationship curve between the magnetic adsorption force of the magnetically adsorbing wheel and the surface of the steel structure and the adsorption gap is obtained.The dynamic model of the wall-climbing robot is established,and the dynamic simulation of the wall-climbing robot in the critical environment is performed to verify the rationality of the design,so as to achieve the purpose of making the wall-climbing robot adapt to the curved surface.