Research Design And Mechanical Analysis Of Robot Structure Aimed At Large-scale Metal Facade Maintenance

With the rapid development of industry,maintenance work of large metal fa(?)ade inspections,paint spraying and rust removal aiming at petrochemical storage tanks,ships and others has become a huge project.The manual method used in the past has higher costs,lower efficiency,and a higher risk factor.And the pollution is serious,so it is imperative for the machine to substitute for people.However,the robot existed has two major difficulties in performing the above tasks: first,it is extremely difficult to have high obstacle surmounting performance under high load conditions,and second,it is extremely difficult to adapt to each different metal wall curvatures.In order to solve the above problems,the thesis designs a large metal facade maintenance robot.The main innovations and tasks are as follows:(1)Design a composite variable magnetic force module to make the robot load capacity reach 120 kg.Design a three-segment robot body model to make its wall obstacle surpassing ability reach 100 mm.Design a flexible robot segment connector that can limit the rotation angle that has universal curvature self-adaptation ability.Design a wheel and foot compound walking module to make it have stable and flexible moving performance based on obstacle surmounting ability.Design a removable maintenance platform so that it can equipped with three or more maintenance tools.(2)In order to verify the completeness and effectiveness of the robot structure and provide a theoretical basis for the robot's motion control,the thesis makes detailed planning and design of the robot's obstacle-crossing motion process from two aspects of the robot's obstacle-free and non-obstacle-free driving.The robot is modeled and solved in detail,and the motion trajectory of the robot is verified by V-rep.(3)In order to prevent the robot from detaching from the wall due to excessive load or obstacles,the thesis analyzes and calculates the reliable adsorption force of the wall required by the robot.In order to satisfy the robot's good driving performance,the dynamic equations of the robot under obstacles,straight ahead,turning and other motion conditions are deduced and calculated,and the dynamics analysis software Adams is used to simulate and verify the robot dynamics analysis.Selection of motors based on robot mechanics analysis.The key components of the robot were reasonably selected,and static simulation tests were performed on them using Ansys Workbench to verify their stiffness and strength.(4)Based on the wall adsorption conditions and obstacle crossing characteristics required by the robot,the thesis designs a composite variable magnetic attraction module composed of a permanent magnet-yoke-electromagnet and selects a cross-type permanent magnet magnetization method to improve the magnetic energy product of a single adsorption module.Besides,the internal magnetic field of a single adsorption module can be adjusted by an electromagnet.By setting the optimization function,each parameter of the hybrid variable magnetic adsorption module is optimized and designed step by step.Ansoft Maxwell is used to simulate and verify the adsorption force generated in different environments.