Research On The Design Of Magnetic Adsorption Crawler Climbing Robot Based On Load Dispersion Mechanism

A new type of magnetic adsorption crawler climbing robot is designed,which can replace the diver to clean the attachment on the bottom of the underwater ship.At present,the same kind of robot developed at home and abroad has some problems,such as insufficient adsorption capacity,poor adaptive performance of curved surface and so on.Based on the permanent magnet crawler,this paper presents a main body connection scheme of passive independent suspension with self-adaptability of curved surface,and a load dispersion mechanism which can effectively improve the wall adsorption performance of the device.Through the investigation of the overall scheme of the robot,combined with theoretical calculation and structural design,the trial production of the robot prototype and related performance parameters test are finally completed,which provides a practical robot structural design scheme to solve the above problems.The main research work of this paper is as follows:(1)This paper analyzes the working conditions and requirements of ship surface attachment cleaning,investigates the research status of wall climbing robot at home and abroad,and summarizes the research direction and design requirements of this topic.Based on this,a new mechanical structure scheme of the permanent magnet adsorption crawler climbing robot is designed,and a main body connection scheme and corresponding load distribution mechanism of the robot based on the passive independent suspension are proposed.(2)Determine the general form of the robot space pose model,analyze the common failure form and failure mechanism of the magnetic adsorption crawler climbing robot,establish the mechanical model of the robot,and calculate the rated adsorption force of the permanent magnetic adsorption unit and the rated output torque of the driving device through MATLAB.The design parameters of the permanent magnet adsorption unit are determined by the ANSYS magnetic simulation software and the tensile test of the permanent magnet sample.In addition,according to the above calculation results,the optimization effect of load dispersion mechanism for the load performance of this kind of wall climbing robot is analyzed quantitatively.(3)Based on STM32 embedded technology,a robot motion control system is built to meet the requirements of working conditions.At the same time,the robot prototype is developed and trial manufactured independently,and the experiments of climbing,loading,obstacle surmounting and path tracking are carried out on the special iron wall experimental platform,and a number of performance indexes of the robot are tested and analyzed.By comparing with the load performance of similar domestic robots,it is proved that the load performance advantage of the magnetic adsorption crawler climbing robot proposed in this paper.To sum up,this paper developed a magnetic suction crawler wall climbing robot with self-adaptability of curved surface,which has the performance of adsorption movement on the outer wall of the ship bottom.The robot has a rated moving speed of 7 m/min,a selfweight of 74 kg,and can cross a wall obstacle with a height of 10 mm.The payload under static adsorption state is 140 kg.All these parameters meet the expected design objectives.