Structural Design And Optimization Of Multi-track Omnidirectional Mobile Wall-climbing Robot For Ship

The automated operation mode of the shipbuilding industry relies on the performance of efficient operation to replace workers in automatic spraying,descaling and cleaning.The wall climbing robot is the key to reducing safety hazards,improving work efficiency and low cost in the future shipbuilding industry,and promoting the upgrading of China's industrial structure.One of the key technologies of the focus.At present,domestic and foreign marine wall-climbing robots have problems such as insufficient adsorption capacity,poor load capacity and weak driving performance.On the basis of fully researching related research at home and abroad,this thesis aims to realize the reliable adsorption and flexible walking of the robot.A multi-track omnidirectional mobile wall-climbing robot based on adjustable magnetic adsorption is proposed.In this paper,the paper focuses on the key technologies of robotic omnidirectional crawler mechanism optimization and adsorption mechanism based on Halbach square array.The main research contents are as follows:Firstly,the overall scheme design of the marine multi-track omnidirectional mobile wall climbing robot system is completed;the walking mechanism adopts the omnidirectional crawler walking mode,so that the robot can realize the walking without turning without turning;the adsorption mechanism adopts the magnetic wheel mounted on the crawler and the robot The composite adsorption method of the Halbach square array is installed at the bottom.In addition,the relevant mechanical analysis of the working posture of the marine multi-track omnidirectional mobile wall-climbing robot is carried out,and the structural design and optimization of the omnidirectional moving mechanism and the variable magnetic attraction mechanism of the wall-climbing robot are emphasized.Secondly,aiming at the problem of insufficient adsorption capacity of the robot,a basic structure of a new adjustable magnetic adsorption unit based on Halbach square array is proposed.The new magnetic adsorption unit consists of a square Halbach permanent magnet array,a suitable amount of soft iron and a ball screw.The permanent magnet materials and soft magnetic materials suitable for the magnetic adsorption unit are discussed and determined.The mathematical model of Halbach array is established by Fourier series method.The numerical analysis is used to obtain the magnetic induction harmonics on the strong and weak magnetic surfaces.The adsorption unit of the structure was compared and analyzed,and the superiority of the magnetic properties of the Halbach square array was verified,which provided a theoretical basis for the optimal design of the adsorption device.Thirdly,the magnetic coupling analysis and size optimization design of the Halbach square array-magnetic wheel composite adsorption mechanism are carried out.The effects of various parameters of Halbach square array on magnetic adsorption force were studied by numerical simulation and finite element analysis.The coupling between Halbach square array and magnetic wheel was analyzed.The arrangement of magnetic wheel was discussed and based on multi-island.The genetic algorithm optimizes the structural size parameters of the Halbach square array,and obtains a magnetic adsorption unit with high magnetic energy utilization.Finally,build a robot prototype and experiment.Firstly,the adsorption performance of the Halbach square array was verified,and then the robot adsorption performance test was completed on the vertical steel plate.Secondly,the robot's walking ability was tested on the outer wall surface of the ship.And the current value is output in real time by collecting the motor driver.The motor torque values under different inclinations were tested to verify the walking performance of the robot.