新型罐壁检测爬行机器人的行走吸附机构设计

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在研究磁路的基础上,提出了一种新型的轮式罐壁检测爬行机器人行走吸附机构,设计了新型的永磁轮,对磁路设计的合理性进行了研究和仿真分析,选择了永磁材料,并在永磁轮的基础上设计了万向永磁轮机构;设计了爬壁机器人的驱动系统,选择了传动方式和关键驱动部件。制作了物理样机,对样机进行了负重能力测试,并进行了吸附能力和机动能力试验。样机的试验表明,永磁轮磁路结构设计合理,吸附力强而且稳定,行走阻力较小,机器人工作状况良好。

A new kind of walk-adsorption mechanism of wheel typed tank-wall-climbing inspection robot was proposed based on magnetic circuit research.A new style permanent magnet wheel was designed and a research and simulation analysis on the rationality of the design of magnetic circuit was made.The permanent magnetic material was selected and the design of the universal permanent magnet wheel mechanism on the basis of the permanent magnetic wheel was achieved.The drive system of the climbing robot was designed and the transmission way and the key driver components was chosen.The physical prototype was made and the test of the weight capacity,the adsorption ability and the mobile ability of the prototype were achieved.The prototype test showed that the design of the permanent magnet wheel mechanism is reasonable and the adsorption force is strong and stable.The robot have low walking resistance and workes in good condition.

爬壁机器人，永磁轮，吸附，检测，Wall-Climbing Robot，Permanent Magnet Wheel，Adsorption，Inspection。

新型罐壁检测爬行机器人的行走吸附机构设计。