Research On Structural Design And Optimization Of Steel Wall Work Robot

As a special robot that can move flexibly in complex wall environment,steel wall working robot is widely used in shipbuilding,chemical industry and other industries.However,at present,steel wall working robots generally have problems such as poor adaptability of curved walls,weak adsorption capacity and poor flexibility.In view of the above-mentioned problems,the research on the robot adaptive mechanism and the new magnetic adsorption device is of great significance to promote the application of wall working robots in engineering practice.Based on the development status at home and abroad,this paper makes reasonable choices for the adsorption scheme,walking scheme,and driving scheme according to the application characteristics of the steel wall working robot.Combining the actual working conditions of the wall working robot,the robot's expected indicators are proposed and The key mechanisms such as the robot adaptive mechanism and the adsorption mechanism are analyzed and designed,and then the overall structure design of the robot is completed.In view of the problem of weak adsorption force of permanent magnet mechanism,optimize the magnetic circuit,design a new permanent magnetic wheel with permanent magnet array arrangement,and numerical simulation and analysis of the influence of the thickness of iron and the different air gap size between the steel wall surface son of the magnetic force,which provides a reference for the design and optimization of the adsorption structure of the robot in the steel wall operation.This paper builds a model for any working posture of a steel wall working robot,discusses the reliability and safety of the robot operation from two instability angles of the robot's sliding and overturning,and checks the rationality of the design of the permanent magnet adsorption mechanism.The Solidworks software was used to model the robot body structure,and the ADAMS software was used to dynamically simulate and analyze the robot's obstacle-crossing process on the steel work wall.The simulation results show that the robot can meet the design requirements.The wall working robot will be processed and assembled parts,and then complete the test of the wall surface adaptability and load adaptability of the permanent magnet adsorption mechanism and the robot body,and the rationality and feasibility of the design of the robot body of the permanent magnet adsorption device and the steel wall work robot are tested.