Research And Engineering Analysis Of Magnetic Adsorption Climbing Robot For Steel Structure Building

With the continuous process of urbanization in China,the demand for building construction increases sharply.Prefabricated steel structure building,as an efficient and energy-saving building form,has become the mainstream of building construction.In the construction of steel structure buildings,the positioning,connection,detection and other work of building components are currently completed by workers on the high building frame,which has a large potential safety hazard,low efficiency and poor accuracy.This paper intends to develop a climbing robot for steel structure construction,which can carry construction equipment attached to the building components for climbing,and complete the corresponding work tasks after reaching the target position.The main research contents of this paper are as follows:(1)Attachment unit design of climbing robot.Summarize the construction task of prefabricated steel structure building,clarify the work tasks and technical indicators of climbing robot,and then analyze and compare the common attachment methods of climbing robot,select electromagnetic adsorption as the attachment mode of the robot,design the parameters of electromagnetic unit according to the constraint.(2)Structural design of climbing robot.Based on the investigation and study of existing climbing robots,analyze and compare the common drive and movement solutions of climbing robot,carry out the detailed structural design of the robot’s moving,driving,attachment and fall prevention mechanism,establish the threedimensional model of the robot.(3)Kinematics and Dynamics analysis of climbing robot.Using Adams software to simulate and analyze the movement process of climbing robot,obtain the data of displacement,speed,force and torque of the key parts of the robot in the climbing process,observe the stability of the robot during climbing.(4)Statics analysis of climbing robot.Using Workbench software to carry out static finite element analysis on the key parts of climbing robot,obtain the stress and deformation of the key parts of the robot under the most dangerous working conditions,verify whether the strength and stiffness of the robot meet the requirements.(5)Structural optimization of climbing robot.Using the topology optimization function module in Workbench software to optimize the structure of the parts with material redundancy,and re-establish the parts model according to the optimization results,carry out the statics analysis of the optimized parts to verify the feasibility of the optimization scheme,achieve the lightweight goal of the robot.