用于搭载船舶除锈清洗器的爬壁机器人研究
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摘要
用于搭载船舶除锈清洗器的爬壁机器人WCRSRR的主要功能是搭载船舶壁面除锈清洗器,使其在船舶壁面有效地进行除锈。近年来,世界上许多国家开始研制环保、安全、高效的各种WCRSRR机器人。
本文针对该机器人负载大、本体重的特点,分析了WCRSRR机器人研究的关键技术,对WCRSRR机器人的理论特性进行了研究,对考虑真空负压和射流力的WCRSRR附壁特性、大负载履带式WCRSRR转向特性和考虑变负载变重心的WCRSRR驱动特性进行了研究。
WCRSRR属于大负载且本体比较重的重载爬壁机器人,由于选择了履带式行走机构、永磁真空混合吸附方式,当爬壁机器人在船舶壁面上作业时,在真空抽吸力即真空负压压力一定的情况下,永磁吸附单元的吸附力越大,则爬壁机器人的吸附可靠性越高,其运动稳定性也越高,但灵活性却随之降低。在真空负压压力一定的情况下,在确保爬壁机器人可靠吸附和稳定运动的基础上,为了尽可能地提高机器人的运动灵活性,需要根据爬壁机器人所需的最小允许吸附力对磁吸附单元进行优化设计。本文提出了一种考虑吸附壁面法向真空负压和射流力的附壁性能分析方法,建立了永磁真空混合吸附的附壁力学模型,并进行了算例仿真分析,规划了永磁和真空负压的参数匹配。同时提出了大负载履带式WCRSRR转向特性分析方法,建立了大负载的转向特性摩擦的力学模型,并进行了算例仿真分析,通过有限元对比分析,设计了一种刚度和结构优化的行走永磁单元结构。
驱动性能是爬壁机器人上爬动力的关键,本文研究了爬壁机器人在拖带较重的负载管路下的驱动能力,建立了爬壁机器人的动力系统模型,详细分析了机器人在船舶壁面上的运动状态和电机驱动转矩、减速机输出转矩与机构参数之间的关系,对驱动系统模型进行了优化,建立了驱动转矩与机器人爬壁作业高度及船舶壁面倾斜角的关系方程,通过对三者关系的分析,给出了机器人在各个作业高度下,机器人驱动转矩所允许的船舶壁面倾斜角,即机器人爬壁倾斜角,为WCRSRR的驱动系统设计、驱动元件选择和安全可靠驱动工作提供了理论依据。
根据本文的理论分析,研制了一种履带式永磁真空混合吸附的WCRSRR机器人系统,并进行了同步行进、附壁性能、驱动性能、转向性能和横爬性能等现场试验。针对所研究的WCRSRR试验样机的不足,设计了一种改进的用于搭载船舶除锈清洗器的爬壁机器人配置方法,规划了改进的动力系统工作原理,分析了运动性能,设计了三角形摆动越障机构。
The wall climbing robot for ship rust removal (WCRSRR) is a new type wall climbing robot in recent years. The main function of WCRSRR is boarding a rust cleaner, which is a mechanical disc and can directly remove rust on the surface of hull wall by ultra-high pressure water. The rust cleaner can flush, scrub, scrape the wall surface and collect sewage automatically.
The WCRSRR has the characteristics as big loading and heavy robot body, and there are water jet kick and vacuum negative pressure force in normal direction of wall surface. The key technology of the robot was analyzed, the theoretical characteristics were studied, such as the adsorption performance, turning performance and driving performance.
Compared with the traditional wall climbing robot, the loading of the robot is very large, and the weight of the robot body is heaviest. But, when the loading ability is higher, the robot adsorption is larger. This paper presented a way with considering the vacuum negative pressure force and water jetting force for adsorption performance. The static models for glide and tip back were established. According to the three forced states in normal direction of wall surface, the glide and the tip back models were analyzed, and the forced state of permanent magnetic unit between glide and tip back were compared. The larger adsorption will cause some difficulties when the WCRSRR turns on the hull wall surface, such as the destruction about the magnetic sucking mechanism unit, which may lead to the robot fall off. From this argument, the turning model was set up, and the structure of magnetic sucking mechanism unit was optimized according to the finite element analysis.
The weight of the loading pipe and the center of gravity position change with the climbing high. According to the climbing wall working principle, the kinematics models which contain the robot climbing and turning on the ship wall were established. The models were optimized by fuzzy optimization theory and analyzed by simulation, and the safe working range was planned. Then the kinematics climbing ability was analyzed, and the relation between climbing high and ship wall tilt angle was discussed with theoretical torque, maximum torque and rated torque. The fixed loading climbing and variable load climbing experiments were tested by a prototype. Finally, the result shows that the optimal model was reliable, the permanent magnetic adsorption force, vacuum force and water jet force had little effect on kinematics characteristics, but the robot body weight, climbing high and ship wall tilt angle had great effect on it, and the planned safe working range was reasonable.
According to the three aspects of the basic analysis, the prototype was made,and the controller test, permanent magnet performance test and permanent magnetic and vacuum mixed adsorption test were conducted. Based on the disadvangtages, a design scheme of the improved WCRSRR was proposed, and the driving performance was optimized, and the walking obstacle negotiation performance was analyzed, and the graph of the comparison between the original and improved three sprocket obstacle negotiation performance was proposed.
本文针对该机器人负载大、本体重的特点,分析了WCRSRR机器人研究的关键技术,对WCRSRR机器人的理论特性进行了研究,对考虑真空负压和射流力的WCRSRR附壁特性、大负载履带式WCRSRR转向特性和考虑变负载变重心的WCRSRR驱动特性进行了研究。
WCRSRR属于大负载且本体比较重的重载爬壁机器人,由于选择了履带式行走机构、永磁真空混合吸附方式,当爬壁机器人在船舶壁面上作业时,在真空抽吸力即真空负压压力一定的情况下,永磁吸附单元的吸附力越大,则爬壁机器人的吸附可靠性越高,其运动稳定性也越高,但灵活性却随之降低。在真空负压压力一定的情况下,在确保爬壁机器人可靠吸附和稳定运动的基础上,为了尽可能地提高机器人的运动灵活性,需要根据爬壁机器人所需的最小允许吸附力对磁吸附单元进行优化设计。本文提出了一种考虑吸附壁面法向真空负压和射流力的附壁性能分析方法,建立了永磁真空混合吸附的附壁力学模型,并进行了算例仿真分析,规划了永磁和真空负压的参数匹配。同时提出了大负载履带式WCRSRR转向特性分析方法,建立了大负载的转向特性摩擦的力学模型,并进行了算例仿真分析,通过有限元对比分析,设计了一种刚度和结构优化的行走永磁单元结构。
驱动性能是爬壁机器人上爬动力的关键,本文研究了爬壁机器人在拖带较重的负载管路下的驱动能力,建立了爬壁机器人的动力系统模型,详细分析了机器人在船舶壁面上的运动状态和电机驱动转矩、减速机输出转矩与机构参数之间的关系,对驱动系统模型进行了优化,建立了驱动转矩与机器人爬壁作业高度及船舶壁面倾斜角的关系方程,通过对三者关系的分析,给出了机器人在各个作业高度下,机器人驱动转矩所允许的船舶壁面倾斜角,即机器人爬壁倾斜角,为WCRSRR的驱动系统设计、驱动元件选择和安全可靠驱动工作提供了理论依据。
根据本文的理论分析,研制了一种履带式永磁真空混合吸附的WCRSRR机器人系统,并进行了同步行进、附壁性能、驱动性能、转向性能和横爬性能等现场试验。针对所研究的WCRSRR试验样机的不足,设计了一种改进的用于搭载船舶除锈清洗器的爬壁机器人配置方法,规划了改进的动力系统工作原理,分析了运动性能,设计了三角形摆动越障机构。
The wall climbing robot for ship rust removal (WCRSRR) is a new type wall climbing robot in recent years. The main function of WCRSRR is boarding a rust cleaner, which is a mechanical disc and can directly remove rust on the surface of hull wall by ultra-high pressure water. The rust cleaner can flush, scrub, scrape the wall surface and collect sewage automatically.
The WCRSRR has the characteristics as big loading and heavy robot body, and there are water jet kick and vacuum negative pressure force in normal direction of wall surface. The key technology of the robot was analyzed, the theoretical characteristics were studied, such as the adsorption performance, turning performance and driving performance.
Compared with the traditional wall climbing robot, the loading of the robot is very large, and the weight of the robot body is heaviest. But, when the loading ability is higher, the robot adsorption is larger. This paper presented a way with considering the vacuum negative pressure force and water jetting force for adsorption performance. The static models for glide and tip back were established. According to the three forced states in normal direction of wall surface, the glide and the tip back models were analyzed, and the forced state of permanent magnetic unit between glide and tip back were compared. The larger adsorption will cause some difficulties when the WCRSRR turns on the hull wall surface, such as the destruction about the magnetic sucking mechanism unit, which may lead to the robot fall off. From this argument, the turning model was set up, and the structure of magnetic sucking mechanism unit was optimized according to the finite element analysis.
The weight of the loading pipe and the center of gravity position change with the climbing high. According to the climbing wall working principle, the kinematics models which contain the robot climbing and turning on the ship wall were established. The models were optimized by fuzzy optimization theory and analyzed by simulation, and the safe working range was planned. Then the kinematics climbing ability was analyzed, and the relation between climbing high and ship wall tilt angle was discussed with theoretical torque, maximum torque and rated torque. The fixed loading climbing and variable load climbing experiments were tested by a prototype. Finally, the result shows that the optimal model was reliable, the permanent magnetic adsorption force, vacuum force and water jet force had little effect on kinematics characteristics, but the robot body weight, climbing high and ship wall tilt angle had great effect on it, and the planned safe working range was reasonable.
According to the three aspects of the basic analysis, the prototype was made,and the controller test, permanent magnet performance test and permanent magnetic and vacuum mixed adsorption test were conducted. Based on the disadvangtages, a design scheme of the improved WCRSRR was proposed, and the driving performance was optimized, and the walking obstacle negotiation performance was analyzed, and the graph of the comparison between the original and improved three sprocket obstacle negotiation performance was proposed.
引文
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