Mechanism Design And Simulation Of Crawling Robot Based On Magnet Adsorption

In recent years,with the continuous development of automation technology,the world’s demand for industrial robots has accelerated significantly.Welding robot as an important part of industrial robot,it can replace manual operation in a narrow space,reducing the impact of smoke,radiation,high temperature and noise in the welding process for on-site welding personnel.The welding robot can carry out 24 hours continuous welding operation through input instructions,which not only ensures the stability of welding but also improves the welding efficiency.It has comprehensive application value for the manufacturing of electronic products,mechanical processing and manufacturing,aerospace and shipbuilding industries.In view of the current situation that most welding robots are large in size,not easy to carry and not strong in adsorption capacity,a miniaturized magnetic adsorption crawling welding robot was designed in this paper,which can be applied in more occasions and meet various welding position of flat welding,vertical welding,upward welding and horizontal welding.The robot can be controlled by the left and right independent driving mechanism,so that the crawling welding robot can turn in place,which can meet the requirements of narrow space operation.First of all,according to the research status of crawling welding robot in the domestic and overseas and the technical requirements of welding robot,the design of transmission mechanism,magnetic adsorption mechanism and multi position welding gun regulating mechanism is studied.According to the selected scheme,the selection and design of the parts of each mechanism were carried out,the magnetic suction of the magnetic adsorption mechanism was analyzed by finite element simulation,and the magnetic force and magnetic field distribution of the designed magnetic adsorption unit were studied.Secondly,according to the linear path and curved path of the welding robot,the robot kinematics research was carried out,and the motion law of the robot under different paths and the conditions of the robot to realize automatic welding were studied.Based on the virtual prototype analysis software,by setting the contact force parameters and adding related drives and constraints,the virtual prototype tests were carried out on the adjusting mechanism of the welding gun of the crawling welding robot,the chain drive system and the dynamics of the robot under different working conditions.The results showed that the welding robot designed could manufacture physical prototypes.Finally,the motion performance of the welding robot is verified by the experiment.The motion process of the robot is stable,the steering effect is stable,the design of the welding robot meets the preset technical requirements,and the actual production can be carried out.