油罐内壁除锈爬壁机器人吸附机构设计
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摘要
为提高在役油罐内壁除锈作业的安全性与可靠性,可采用爬壁机器人替代人工作业,在进行除锈爬壁机器人设计时,吸附机构尤为重要。考虑到爬壁机器人的作业表面为凹凸不平的锈蚀表面,以及要克服喷枪除锈的反作用力,文中设计了一种基于新型稳态永磁吸附操动机构原理的永磁吸附机构,基于传统的永磁操动机构,用永磁体代替传统永磁操动机构通过动铁芯作为驱动部件,磁力直接作用永磁体使合、分闸速度达到一致;针对传统永磁操动机构在合、分闸过程中不能准确复位问题,该永磁操动机构采用三稳态操动机构的理念,增设刚性弹簧来达到该永磁操动机构的自锁功能,该机构通过驱动轴连接永磁吸盘进行非接触吸附,着重解决了爬壁机器人在运行过程中吸附的稳定性及工作完成后摘取的方便性。文中还研究分析在该永磁吸附机构下,爬壁机器人在壁面静态失稳状态下的吸附力分布情况及运动学分析,结果表明该永磁吸附机构能够满足油罐内壁除锈机器人的吸附与移动要求。
In order to ensure a higher standard of safe and reliable rust-removing operation on the in-service oil tank's inner wall,manual operation is replaced with the wall-climbing robot. The adsorption mechanism is critical to the design of the robot. Since the wall-climbing robot's working surface is rugged and the reaction force exerted by the gun rust-removing should be eliminated,in this article,a permanent-magnet adsorption mechanism is developed,based on the principle of the new steady operating mechanism. The permanent-magnet operating mechanism replaces its traditional counterpart,with the moving iron core as the driving component,and the magnetic force is directly exerted on the permanent magnet,thus making the opening speed compatible with the closing speed. Since the traditional permanent-magnet operating mechanism cannot be reset accurately during the opening and closing process,the new mechanism adopts the concept of three-stable operation,and a rigid spring is added to ensure the self-locking of the mechanism. The mechanism is connected to the permanent-magnet sucker through the drive shaft for the purpose of non-contact adsorption,thereby ensuring the stable adsorption when the wall-climbing robot is working and the easy pick-up when the task is completed. In addition,the analysis is conducted on the distribution of adsorption force and the kinematic performance when the wall-climbing robot is working in the context of the static instability of the wall. The results show that the permanent-magnet adsorption mechanism can meet the requirements of adsorption and moving of the rust-removing wall-climbing robot on the oil tank's inner wall.
In order to ensure a higher standard of safe and reliable rust-removing operation on the in-service oil tank's inner wall,manual operation is replaced with the wall-climbing robot. The adsorption mechanism is critical to the design of the robot. Since the wall-climbing robot's working surface is rugged and the reaction force exerted by the gun rust-removing should be eliminated,in this article,a permanent-magnet adsorption mechanism is developed,based on the principle of the new steady operating mechanism. The permanent-magnet operating mechanism replaces its traditional counterpart,with the moving iron core as the driving component,and the magnetic force is directly exerted on the permanent magnet,thus making the opening speed compatible with the closing speed. Since the traditional permanent-magnet operating mechanism cannot be reset accurately during the opening and closing process,the new mechanism adopts the concept of three-stable operation,and a rigid spring is added to ensure the self-locking of the mechanism. The mechanism is connected to the permanent-magnet sucker through the drive shaft for the purpose of non-contact adsorption,thereby ensuring the stable adsorption when the wall-climbing robot is working and the easy pick-up when the task is completed. In addition,the analysis is conducted on the distribution of adsorption force and the kinematic performance when the wall-climbing robot is working in the context of the static instability of the wall. The results show that the permanent-magnet adsorption mechanism can meet the requirements of adsorption and moving of the rust-removing wall-climbing robot on the oil tank's inner wall.
引文
[1] Hagen S. Neptune:above-ground storage tank inspection robot system[C]//Proc IEEE International Conference on Robotics and Automation,California:San Diego,1994:2014-2022.
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[4]张洪海.机器人壁面自动清洗系统的工程研究[D].上海:上海大学,2001:20-21.
[5]宋澜.一种双稳态永磁驱动操作机构的设计[J].机械科学与技术,2011,30(12):2074~2076.
[6]吴明晖.面向焊接任务的轮足式非接触磁吸附爬壁机器人研究[D].上海:上海交通大学,2014:20-30.
[7]郑宏宇,宗长富,朱天军,等.汽车线控液压制动系统的稳定性分析[J].农业机械学报, 2008, 39(2):180-184.
[8]唐东林,龙再勇,袁波,等.永磁吸附轮式爬壁机器人受及功耗分析[J].机械科学与技术,2019,38(4):499-506.
[9]闵伟.三稳态永磁操动机构原理与应用[J].微特电机,2014,42(3):36-39.
[2] Jack Holingum. Hazrdous climb to industrial recognition[J].Industrial Robot,1997,24(2):135-139.
[3]马培荪,陈佳品,俞翔.油罐容积检测用爬壁机器人的研制[J].上海交通大学学报,1996,30(11):159-164.
[4]张洪海.机器人壁面自动清洗系统的工程研究[D].上海:上海大学,2001:20-21.
[5]宋澜.一种双稳态永磁驱动操作机构的设计[J].机械科学与技术,2011,30(12):2074~2076.
[6]吴明晖.面向焊接任务的轮足式非接触磁吸附爬壁机器人研究[D].上海:上海交通大学,2014:20-30.
[7]郑宏宇,宗长富,朱天军,等.汽车线控液压制动系统的稳定性分析[J].农业机械学报, 2008, 39(2):180-184.
[8]唐东林,龙再勇,袁波,等.永磁吸附轮式爬壁机器人受及功耗分析[J].机械科学与技术,2019,38(4):499-506.
[9]闵伟.三稳态永磁操动机构原理与应用[J].微特电机,2014,42(3):36-39.