Design Of Omnidirectional Mobile Wall-climbing Robot Based On Mecanum Wheels

In recent years,Domestic industrial development has exceeded expectations and is still improving.During the daily work,industrial equipment also needs to be periodically maintained and renovated to prevent waste of resources due to equipment damage.Some equipment or environments,such as ships,signals,ventilation cooling towers,and wind turbines,are difficult to detect and maintain.Wall-climbing robot is a kind of intelligent robot that can be attached to the wall and can complete various movements on the wall steadily.Its research and production have better solved part of the wall-related detection,maintenance or maintenance that has not been perfected by manual operation the problem.As a product of artificial intelligence,although it has some advantages that artificial detection does not have,such as strong wall adaptability and wall transition ability,the robot itself also needs to design as small and light as possible,in order to let it get inevitably lack load capacity and motion flexibility.The following is specific designing work arrangements:First,analyze the use environment and functional rigidity requirements of the robot,determine the basic performance indicators of the wall-climbing robot,combine the operability and accuracy of the experiment to select servo motor drive,permanent magnet adsorption and other design schemes,use Maxwell software to obtain the preliminary settings Demand for the robot's magnetic adsorption parameters;Secondly,in terms of the selection of the driving wheel of the robot,the concept of using the Mecanum wheel as the driving wheel of this design robot is proposed.After the Mecanum wheel is installed on the wall-climbing robot,the stability and performance of the wall-climbing robot during the motion Maneuverability,determine the use of Mecanum wheels for robot design,and use suitable motors for driving;Next,use Solidworks software to preliminarily draw a 3D model of the Mecanum wheel wall-climbing robot,perform static and dynamic analysis,use Matlab software to obtain the limiting speed of the wall-climbing robot during operation,and perform the wall-climbing robot on the wall The analysis of statics and dynamics verifies whether the robot can operate stably on the wall,and finally determines the parameters of the robot;Finally,improve the structure of the robot 3D model,complete the overall assembly of each structure of the prototype,perform experimental testing and performance optimization on the prototype,and further improve the structure of the robot so that it can be used in a deeper level by examining the experimental process and operating efficiency.The designed robot has effectively reduced its own weight and increased the maximum load on the basis of the robot developed in recent years,and can complete stable climbing and large-scale movement on the metal wall surface,achieving the established goal of robot design.