磁吸附焊缝检测爬壁机器人

 2022-03-01 07:03

论文总字数:28571字

摘 要

Abstract II

第一章 绪论 1

1.1课题背景及研究意义 1

1.2 爬壁机器人研究现状 2

1.2.1 爬壁机器人的吸附结构研究现状 2

1.3 课题的主要研究内容 8

第二章 机器人总体方案与结构设计 10

2.1 引言 10

2.2 机器人基本功能方案 10

2.2.1 爬壁机器人技术要求 10

2.2.2 机器人吸附方案分析 10

2.2.3机器人运动方案分析 12

2.2.4机器人驱动方案分析 14

2.3 机器人本体结构设计 15

2.3.1机器人总体机械结构 16

2.4 本章小结 17

第三章 机器人安全吸附条件分析 18

3.1 引言 18

3.2 静态受力分析 18

3.2.1 沿壁面下滑 19

3.2.2 倾覆脱落 20

3.2.3 壁面下滚 20

3.3 动态受力分析 20

3.4 本章小结 21

第四章 永磁吸附机构优化设计 22

4.1引言 22

4.2 永磁吸附机构设计 22

4.2.1 增强磁吸附力的方法 22

4.2.2 吸附装置设计原理介绍 22

4.2.3 磁吸附单元材料选择 25

4.2.4 磁铁单元分布结构选择 25

4.2.5 磁铁结构各参数优化 26

4.2.6 磁吸盘总体结构 26

4.3 本章小结 27

第五章总结与展望 28

5.1 总结 28

5.2 展望 28

致谢 30

参考文献 31

磁吸附焊缝检测爬壁机器人设计

02012208 李颖

指导教师 王兴松

摘要:随着经济社会发展,大型压力压力容器数量不断告诉增长,为保障其在使用年限内安全运行,需要对其进行定期安全检测。由于大型压力容器体积庞大,人工检测效率低、操作危险、精度难以保证,迫切需要自动化检测设备。本课题针对大型压力容器焊缝检测需要,开展磁吸附爬壁机器人的开发研究,填补国内大型球罐、立式储罐等在役乘压设备的自动化检测装备的空白,并针对大型球罐表面曲率变化的特点设计了新型非接触式磁吸附机构,无需额外的控制就能较好的对不同曲率的曲面进行自适应,简化了爬壁机器人的结构。

首先,在对比国内外磁吸附爬壁机器人现有技术的基础上,结合焊缝检测爬壁机器人功能和需求的特点,提出采用永磁吸附机构、两轮差动两轮从动的运动方式和直流无刷电机驱动方式的机器人原理设计方案,并研制了焊缝检测爬壁机器人样机。

其次,结合机器人原理设计方案,建立了焊缝检测爬壁机器人在壁面作业的几种危险情况下的力学模型,并对其进行了分析,确定出了最小安全吸附力。

最后,以爬壁机器人所需的安全吸附力为基础,通过查阅文献,分析结论,对磁吸附单元的结构尺寸等进行了优化设计,提高了磁能利用率,增大了磁吸附力,直接和间接的提高了机器人的整体性能。

关键词:焊缝检测,两轮差动,爬壁机器人,非接触变磁力,自适应表面

Magnetic Adsorption Weld Testing Climbing Robot Design

02012208 Li Ying

Supervised by Wang Xingsong

Abstract: With the economic and social development, the number of large pressure and pressure vessels is constantly increasing , in order to ensure its safe operation in the service life , we need to conduct regular safety inspection. Because of the huge volume of large pressure vessel , manual detection efficiency is low , and it’s difficult to guarantee accuracy,so there is urgent need for automated testing equipment. In this paper, the development and research of the magnetic adsorption wall climbing robot is developed for the detection of the weld seam of large pressure vessel.

This topic in accordance with the need of large pressure vessel weld detection, to carry out the research of magnetic adsorption climbing robot, fill the domestic large spherical tank, such as vertical storage tanks in service by the blank of pressure equipment automation testing equipment, and in the light of the characteristics of large spherical tank surface curvature change design a new non-contact magnetic adsorption mechanism, no additional control can better adaptive to different curvature of surface, simplify the overall structure of the robot.

First, in contrast magnetic adsorption climbing robots at home and abroad on the basis of existing technology, combined with the weld detection function and demand characteristics, robot permanent magnetic adsorption mechanism is presented in this paper, two differential of two rounds of the driven wheel movement way and the way of brushless dc motor drive robot design, principle and weld detection prototype robot is developed.

Secondly, combining with the principle of robot design, weld detection in wall climbing robot is established the mechanical model of several kinds of dangerous situation, and carries on the analysis, identify the minimum safe adsorption force.

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