变磁力吸附爬壁机器人的结构设计与爬越焊缝特性

摘要
图/表
参考文献
相关文章 (15)

全文: PDF (2569 KB) HTML ( ) 输出: BibTeX \| EndNote (RIS)
引用本文:
闻靖, 顿向明, 缪松华, 顿向勇, 山磊. 变磁力吸附爬壁机器人的结构设计与爬越焊缝特性[J]. 机器人, 2011, 33(4): 405-410,501.. WEN Jing, DUN Xiangming, MIAO Songhua, DUN Xiangyong, SHAN Lei. Structure Design and Weld Seam Surmounting Characteristic of a Wall-climbing Robot with Variable Magnetic Adsorption Force Device. ROBOT, 2011, 33(4): 405-410,501..

摘要为提高储油罐壁检测作业的可靠性和安全性，研究设计了一种变磁力吸附机器人本体结构并研究其爬越焊缝特性．首先基于ANSYS平台对机器人变磁力吸附单元进行仿真分析，得到了机器人本体的磁感应强度分布及磁吸附力．然后建立了爬越焊缝过程的动力学模型，应用ADAMS对其进行动力学仿真分析，得到了该过程中的磁吸附力变化曲线．通过分析验证了机构的合理性和实用性．

	服务

	把本文推荐给朋友
	加入我的书架
	加入引用管理器
	E-mail Alert
	RSS
	作者相关文章
	闻靖
	顿向明
	缪松华
	顿向勇
	山磊

关键词 ：爬壁机器人, 变磁力, 焊缝, ANSYS, ADAMS仿真

Abstract：To improve reliability and security of the oil tank inspection operation,a wall-climbing robot mechanism with variable magnetic adsorption device is proposed and its weld seam surmounting characteristic is studied.Firstly,The ANSYS platform is used to carry out simulation analysis on the variable magnetic adsorption device,and the magnetic flux density distribution and magnetic adsorption force of the robot body are gotten.Then,a dynamic model of the weld seam surmounting process is established.The ADAMS is used to carry out dynamics simulations,and the variation curve of magnetic adsorption force during the course is gotten.The reasonableness and practicality of the proposed structure are verified by analysis.

Key words： wall-climbing robot variable magnetic force weld seam ANSYS ADAMS simulation

收稿日期: 2010-10-11 录用日期: 2011-03-20

TP24

基金资助:江苏省科技支撑计划资助项目（BE2010054）

通讯作者: 闻靖 E-mail: wenj802@163.com

作者简介: 闻靖（1987- ），男，硕士生．研究领域：智能机器人．
顿向明（1972- ），男，副教授，硕士生导师．研究领域：特种机器人设计，智能机器人．
缪松华（1987- ），男，硕士生．研究领域：智能机器人．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2011/V33/I4/405

[1] 刘彬.油罐漏油检测系统[D].北京:北京工业大学,2007.Liu B.The testing system of the leak oilcan[D].Beijing:Beijing University of Technology,2007.
[2] Choi H R,Ryew S M,Kang T H,et al.A wall climbing robot with closed link mechanism[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems.Piscataway,NJ,USA:IEEE,2000:2006-2011.
[3] Kalra L P,Guf J,Max M.A wall climbing robot for oil tank inspection[C]//IEEE International Conference on Intelligent Robots and Biomimetics.Piscataway,NJ,USA:IEEE,2006:1523-1528.
[4] Fischer W,Tache F,Siegwart R.lnspection system for very thin and fragile surface,based on a pair of wall climbing robots with magnetic wheels[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems.Piscataway,NJ,USA:IEEE,2007:1216-1221.
[5] Hirose S.Tsutsunutake H.Disk rover:A wall-climbing robot using permanent magnet disks[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems.Piscataway,NJ,USA:IEEE,1992:2074-2079.
[6] Yi Z Y,Gong Y J,Wang Z W,et al.Analysis on tuming stress states of magnetic sucking mechanism unit of a large load wall climbing robot[C] /International Conference on Measuring Technology and Mechatronics Automation.Piscataway,NJ,USA:IEEE,2010:570-573.
[7] Shen W M,Gu J,Shen Y J.Permanent magnetic system design for the wall-climbing robot[C]//lntemational Conference on Mechatronics and Automation,Piscataway,NJ,USA:IEEE,2005:2078-2083.
[8] 倪光正,杨仕友,钱秀英,等.工程电磁场数值计算[M].北京:机械工业出版社,2004.Ni G Z,Yang S Y,Qian X Y,et al.Numerical value calculation in elecrro-magnetic field[M].Beijing:China Machine Press,2004.
[9] Wang T B,Zhao J H,Yang X L.Finite element analysis on signal transmission magnetic core based on ANSYS[C]//7th International Symposium on Instrumentation and Contrd Technology:Sensors and Instruments,Computer Simulation,and Artificial Intelligence,vol.7127.Bellingham,WA,USA:SPIE,2008.
[10] Li X,Li D S,Chong C B,et al.The study of magnetic circuit control technology for permanent magnet hump rail brake[C]//6th International Symposium on Instrumentation and Control Technology:Sensors,Automatic Measurement,Control,and Computer Simulation,vol.6358.Bellingham,WA USA:SPIE,2006.